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- W2109761141 abstract "There are numerous situations in robotics where it becomes desirable to minimize the maximum magnitude of a solution to an underdetermined set of linear equations. For example, there have been several approaches to finding the joint velocities of kinematically redundant robots using this philosophy. Unfortunately, the solution of this optimization problem, known as the infinity-norm solution, cannot be expressed in a closed form in general thus requiring the use of an algorithm to iteratively refine an initial guess before reaching the desired solution. In order to increase our understanding and reduce the complexity of infinity-norm algorithms, we first formulate a new infinity inverse, and then use the new inverse to explore critical issues such as uniqueness and continuity of least infinity-norm solutions. The new inverse is compared with the well-known pseudoinverse, or minimum two-norm solution. We discuss when and why one particular norm might produce a better solution than the other, reinforcing the discussion with an interesting example of a kinematically redundant manipulator." @default.
- W2109761141 created "2016-06-24" @default.
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- W2109761141 date "2002-11-27" @default.
- W2109761141 modified "2023-09-26" @default.
- W2109761141 title "Properties of minimum infinity-norm optimization applied to kinematically redundant robots" @default.
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- W2109761141 doi "https://doi.org/10.1109/iros.1998.724612" @default.
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