1993
DOI: 10.1109/70.238277
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Motion control of 7-DOF arms: the configuration control approach

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Cited by 71 publications
(25 citation statements)
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“…The Configuration Control Approach (CCA) uses a damped-least squares (DLS) algorithm to invert the extended Jacobian produced by augmenting task space. 83 The CCA is computationally efficient and allows on-line adjustments by varying the DLS coefficients. By definition DLS solutions are approximate, but robust to the singularities that can haunt other task augmentation implementations.…”
mentioning
confidence: 99%
“…The Configuration Control Approach (CCA) uses a damped-least squares (DLS) algorithm to invert the extended Jacobian produced by augmenting task space. 83 The CCA is computationally efficient and allows on-line adjustments by varying the DLS coefficients. By definition DLS solutions are approximate, but robust to the singularities that can haunt other task augmentation implementations.…”
mentioning
confidence: 99%
“…Some work has used pseudo-inverse based gradient projection techniques [28], [29], [30] or extended Jacobian techniques [31], [32] to implement constrained control of kinematically redundant robots. In [33], [34], the authors used neural networks for constrained robot motion control.…”
mentioning
confidence: 99%
“…Augmented Jacobian methods focus on defining kinematic functions that provide forward and differential kinematic relationships to attempt to fully specify the motion of all degrees of freedom of the mechanism. These approaches have been fairly successful [1][2][3] but still have some difficulties. Often the forward kinematic relationships are difficult to compute and may not be defined over the entire workspace.…”
Section: Introductionmentioning
confidence: 98%