1. Date of download: 12/23/2017
Copyright © ASME. All rights reserved.
From: Repeatable Redundant Manipulator Control Using Nullspace Quasivelocities
J. Dyn. Sys., Meas., Control. 2010;132(3): doi: /
Figure Legend:
Trajectories for 20 cycles using eN=∇xNh, J#=J+, and qo=[45 deg, 45 deg, 45 deg, 45 deg,45 deg, 45 deg]. (a) qx=[45 deg, 45 deg, 45 deg, 45 deg, 45 deg, 45 deg] and CPU time=371 s, (b) qx=[50 deg, 45 deg, 42 deg, 43 deg, 47 deg, 52 deg] and CPU time=381 s, and (c) qx=[31 deg, 44 deg,54 deg, 51 deg, 39 deg, 26 deg] and CPU time=451 s.