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- W2051747036 abstract "The issue of repeatability for a particular redundant manipulator is considered. The manipulator considered is a planar three-link manipulator with two orthogonal, prismatic joints and a third revolute joint. It can be thought of as a mobile robot with one revolute joint. It is shown that pseudoinverse control has no stable surfaces for this robotic manipulator. A class of repeatable inverses is then derived. The repeatable inverse which is closest in an integral norm sense to the pseudoinverse is found from this class. >" @default.
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- W2051747036 date "1991-01-01" @default.
- W2051747036 modified "2023-10-05" @default.
- W2051747036 title "Near-pseudoinverse control of kinematically redundant manipulators with the constraint of repeatability" @default.
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- W2051747036 doi "https://doi.org/10.1109/icsyse.1991.161093" @default.
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