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dc.contributor.authorRecalde, Luis-
dc.contributor.authorVelasco-Sánchez, Edison-
dc.contributor.authorGuevara, Bryan-
dc.contributor.authorGandolfo, Daniel-
dc.contributor.authorCandelas, Francisco-
dc.date.accessioned2023-12-27T22:03:59Z-
dc.date.available2023-12-27T22:03:59Z-
dc.date.issued2023-
dc.identifier.urihttps://ieeexplore.ieee.org/document/10309064-
dc.identifier.urihttps://repositorio.uti.edu.ec//handle/123456789/6174-
dc.description.abstractReactive kinematic control in velocity space is closely related to the Jacobian presented in the system. However, if the Jacobian is rank-deficient, certain task-space velocities become unachievable, leading to controller degradation. This work presents an approach to controlling robotic systems based on a quadratic programming formulation that yields solutions in just a few milliseconds. The proposed framework is tested in simulation using a two-link planar robotic arm and a mobile robot. Simulations are implemented in MuJoCo and Webots, respectively, to demonstrate the efficiency of the formulation.es
dc.language.isoenges
dc.publisherECTM 2023 - 2023 IEEE 7th Ecuador Technical Chapters Meetinges
dc.rightsopenAccesses
dc.rights.urihttps://creativecommons.org/licenses/by/4.0/es
dc.titleQuadratic Programming Optimization Applied to Robotics Systemses
dc.typearticlees
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