Motion accuracy and computational effort in qp-based robot control

HIGHLIGHTS

• What: The authors examine in Section III how the QP solution accuracy impacts the resulting robot motion accuracy in a dynamic simulation of a RHPS-1 robot. The authors evaluate then in Section IV how a reduced solution accuracy requirement can be leveraged to reduce the corresponding computational effort, before concluding with a summary of findings and perspectives in Section V. QP q̇ ∈ R6+nj q̈ ∈ R q̈ q̂ u, q̇ u ZZ q̂, q̇ Robot (a) KinematicControlled Robot Controller σ q̂ u, q̇ u q̈ Z Z QP II. Regarding the posture of the rest of the . . .
  

   

  

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