Two different-level schemes are researched in this article for achieving the kinematic control of redundant manipulators. one of which is exploited at the acceleration level. and the other is at the jerk level. Firstly. https://www.roneverhart.com/Goblin-Toe/
Analysis and Verification on the Equivalence Between Jerk-Level and Acceleration-Level Schemes Applied to Manipulators Controlling
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