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- W2741128045 abstract "In redundant robotics, global optimality, conservativity and singularity are three of the most challenging problems which essentially prohibit any practical implementation of the previously developed control algorithm for optimal redundant manipulation. Instead of resolving them separately, the resolutions of global optimality, conservativity and singularity are combined in this work by formulating redundant manipulation as the problem of the calculus of variations and, more general, the Langrange problem of optimal control. Based on these formulations, the conditions on conservativity and algorithmic singularities are studied and resolved for the first time. In particular, the necessary conditions of the global optimality for this highly nonlinear system are derived in explicit form. The analytic results provided through such treatment are in surprisingly simple and elegant forms which not only give new insight into the problem itself, but also allow us to identify the inherent relations between this general formulation and many well known methods for optimal redundant manipulation in the literature, including the Extended Jacobian Technique, most of constraint function based methods, and most of the previously reported methods on the global optimization techniques. Furthermore, the source of instability in these methods, which has been observed by many researchers and yet had not been resolved before, is rigorously identified and resolved." @default.
- W2741128045 created "2017-08-08" @default.
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- W2741128045 date "1990-01-01" @default.
- W2741128045 modified "2023-09-27" @default.
- W2741128045 title "Global optimality, conservativity and singularity in redundancy resolution of robotic manipulators" @default.
- W2741128045 hasPublicationYear "1990" @default.
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