Finite-Horizon Kinetic Energy Optimization of a Redundant Space Manipulator
The minimization of energy consumption is of the utmost importance in space robotics. For redundant manipulators tracking a desired end-effector trajectory, most of the proposed solutions are based on locally optimal inverse kinematics methods. On the one hand, these methods are suitable for real-ti...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2021-03-01
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| Series: | Applied Sciences |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2076-3417/11/5/2346 |