Equivalence of velocity-level and acceleration-level redundancy-resolution of manipulators

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Journal Article
Physics Letters A, 2009, 373 (38), pp. 3450 - 3453
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The equivalence of velocity-level and acceleration-level redundancy resolution of robot manipulators is investigated in this Letter. Theoretical analysis based on gradient-descent method and computer simulations based on PUMA560 robot manipulator both demonstrate the equivalence of redundancy-resolution schemes at different levels
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