NASA NTRS · 19930000661
Extended-Task-Space Control For Robotic Manipulators
Abstract
Extended-task-space concept provides unified approach for control of both redundant and nonredundant manipulators: theoretical framework for complete description of set of mechanism commands in terms of task-space commands, and singularity-avoidance scheme providing robustness at and near singular points of workspace while not degrading performance in nonsingular regions.
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Backes, Paul G., Long, Mark K.. 1993-10-01. Extended-Task-Space Control For Robotic Manipulators. https://ntrs.nasa.gov/citations/19930000661
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