دورية أكاديمية
Quadratic Programming Optimization Applied to Robotics Systems
| العنوان: | Quadratic Programming Optimization Applied to Robotics Systems |
|---|---|
| المؤلفون: | Recalde, Luis, Velasco-Sánchez, Edison, Guevara, Bryan, Gandolfo, Daniel, Candelas, Francisco |
| بيانات النشر: | ECTM 2023 - 2023 IEEE 7th Ecuador Technical Chapters Meeting |
| سنة النشر: | 2023 |
| المجموعة: | DSpace Universidad Indoamerica |
| الوصف: | Reactive kinematic control in velocity space is closely related to the Jacobian presented in the system. However, if the Jacobian is rank-deficient, certain task-space velocities become unachievable, leading to controller degradation. This work presents an approach to controlling robotic systems based on a quadratic programming formulation that yields solutions in just a few milliseconds. The proposed framework is tested in simulation using a two-link planar robotic arm and a mobile robot. Simulations are implemented in MuJoCo and Webots, respectively, to demonstrate the efficiency of the formulation. |
| نوع الوثيقة: | article in journal/newspaper |
| وصف الملف: | application/vnd.openxmlformats-officedocument.wordprocessingml.document |
| اللغة: | English |
| العلاقة: | https://ieeexplore.ieee.org/document/10309064Test; https://repositorio.uti.edu.ec//handle/123456789/6174Test |
| الإتاحة: | https://repositorio.uti.edu.ec//handle/123456789/6174Test https://ieeexplore.ieee.org/document/10309064Test |
| حقوق: | openAccess ; https://creativecommons.org/licenses/by/4.0Test/ |
| رقم الانضمام: | edsbas.112AFDB9 |
| قاعدة البيانات: | BASE |
| الوصف غير متاح. |