Fang, Jian; Mei, Tao; Zhao, Jianghai; Li, Tao - In: Industrial Robot: An International Journal 43 (2016) 2, pp. 241-252
constraints for the optimal scheme. Besides, a dual-mode optimal scheme is developed to yield a feasible input in each control … deficits of the PIM method. Combining with the dual-mode optimal scheme and considering the physical constraints in the torque …
