Null space optimization for effective coverage of 3D surfaces using redundant manipulators

Jürgen Hess, Gian Diego Tipaldi, Wolfram Burgard. Null space optimization for effective coverage of 3D surfaces using redundant manipulators. In 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012, Vilamoura, Algarve, Portugal, October 7-12, 2012. pages 1923-1928, IEEE, 2012. [doi]

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