Anisotropic Disturbance Rejection for Kinematically Redundant Systems With Applications on an UVMS - Marais, Wilhelm J.; Williams, Stefan B.; Pizarro, Oscar (IEEE robotics and automation letters, 2021)
Keywords: Disturbances; Ellipsoids; End effectors; Inverse kinematics; Kinematics; Manipulators; mobile manipulation; Optimization; redundant robots; Rejection; Underwater vehicles; Vehicle dynamics; Velocity measurement