Prioritized multi-task compliance control of redundant manipulators

Keyphrases

• Compliance Control 100%
• Multi-task 100%
• Redundant Manipulator 100%
• External Force 50%
• Null Space 50%
• Control Law 50%
• Control Approach 50%
• Stability Analysis 50%
• Coupling Terms 50%
• Projection Method 50%
• Velocity-dependent 50%
• Block Diagonal 50%
• Dynamic Control 50%
• Semi-definite Lyapunov's Function 50%
• Inertia Matrix 50%
• Kinematic Redundancy 50%
• Null Space Projection 50%
• Passive Feedback 50%
• Space Velocity 50%
• Feedback Actions 50%
• Prioritized Tasks 50%
• Task Hierarchy 50%
• Dynamic Formulation 50%

Engineering

• Redundant Manipulator 100%
• Null Space 100%
• Control Law 50%
• Control Dynamics 50%
• Inertia Matrix 50%
• Stability Analysis 50%
• Lyapunov Function 50%