... the tension constraints and limiting torque constraints of actuators are taken into account is presented in Ref. 7 . Experimental results demonstrated that the proposed control laws reduce the energy consumption of the actuators. Control schemes for redundant manipulators with passive joints subject...

... , Nonlinear Systems , Macmillan , New York . Chiacchio , P. , Chiaverini , S. , Sciavicco , L. , and Siciliano , B. , 1991 , “ Closed-Loop Inverse Kinematics Schemes for Constrained Redundant Manipulators With Task Space Augmentation and Task Priority Strategy ,” Int. J. Robot. Res...

.... 14 06 2009 17 12 2009 11 10 2010 11 10 2010 redundant manipulators Taguchi methods Recently, redundantly actuated parallel mechanisms have been studied because of their advantages such as no actuator singularities ( 1 ), which allows more workspace and additional...