Determining trajectories of redundant actuators jointly tracking reference trajectory
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机译:确定冗余执行器的轨迹,共同跟踪参考轨迹
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摘要
A method determines trajectories of redundant actuators of a machine including a first actuator and a second actuator. The method determines a first trajectory of the first actuator tracking a reference trajectory with an error tolerance, wherein the error tolerance is a function of a constraint of the second actuator, and determines a second trajectory of the second actuator based on a difference between the reference trajectory and the first trajectory.
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