2015
Integral action in first-order Closed-Loop Inverse Kinematics. Application to aerial manipulators
ICRA 2015
The aim of this work is to design, analyze and test the behaviour of first-order CLIK (Closed-Loop Inverse Kinematics) manipulator algorithms under the influence of Cartesian integral error feedback. Although CLIK algorithms has been widely and successfully applied in robot manipulators with structu