In this chapter, the physically constrained RMP scheme is applied to the PA10 robot manipulator by using two QP solvers, i.e., the LVI-PDNN and DNN. Different desired motion paths of the PA10 end-effector (i.e., circular and straight-line paths) are tested for illustrative and comparative purposes.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2013

Authors and Affiliations

  • Yunong Zhang
    • 1
  • Zhijun Zhang
    • 1
  1. 1.Sun Yat-sen UniversityGuangzhouPeople’s Republic of China

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