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- W2331246319 abstract "We analyze the performance of a kinematically redundant, 7 DOF free-flying robot under Cartesian velocity telecontrol. It is shown that the system can be easily destabilized when conventional pseudoinverse redundancy resolution is used, which is due to the presence of algorithmic singularities. A singularity-consistent (SC) solution to the problem is proposed that guarantees stability throughout the feasible motion range. Two SC redundancy resolution techniques are compared: one based on the pseudoinverse of the generalized Jacobian, and another one, based on null space minimization of base attitude disturbance. It is shown that although null space minimization outperforms the pseudoinverse approach in terms of disturbance minimization, this is done at the expense of spurious arm motions. And the gain from the minimization is not sufficient to diminish the disadvantage. Thus, it is concluded that SC pseudoinverse control is a very reliable way of redundancy resolution for a teleoperated arm in space." @default.
- W2331246319 created "2016-06-24" @default.
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- W2331246319 date "1999-08-09" @default.
- W2331246319 modified "2023-09-27" @default.
- W2331246319 title "Singularity-consistent teleoperation techniques for redundant free-flying robots" @default.
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- W2331246319 doi "https://doi.org/10.2514/6.1999-4305" @default.
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