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• W2904176492 abstract "In this paper, we analyze the effectiveness of a predictive redundancy resolution for constrained manipulators in case of on-line re-planning. The method is suitably modified to cope with re-planning issues, such as possible infeasible motions and position errors. Several re-planning scenarios are evaluated. Their definition is based on the smoothness of the re-planned task with respect to the current state of the robot. This allows a deep investigation of the behavior of the method under different conditions. Simulations results on a 7-degree-of-freedom KUKA LWR IV demonstrate remarkable advantages of the predictive method, both in terms of task error and redundancy exploitation." @default.
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• W2904176492 date "2018-01-01" @default.
• W2904176492 modified "2023-09-30" @default.
• W2904176492 title "Predictive Inverse Kinematics for Redundant Manipulators: Evaluation in Re-Planning Scenarios" @default.
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• W2904176492 doi "https://doi.org/10.1016/j.ifacol.2018.11.548" @default.
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