On Perpendicular Curve-based Model-less Control Considering Incomplete Orientation Constraint

IEEE-ASME Transactions on Mechatronics, pp.1-1, (2020)

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Abstract:

With the emerging trend of soft and reconfigurable robots, model-less control methods become more and more popular. However, the Incomplete Orientation Constraint (IOC) remains a challenge for the existing model-less control methods, due to the nonlinear structure of the rotation group. To address the IOC problems, we develop a novel perp...More

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