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Could this framework handle torque constraints for manipulator? #2

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yakunsjtu opened this issue Oct 11, 2021 · 0 comments
Open

Could this framework handle torque constraints for manipulator? #2

yakunsjtu opened this issue Oct 11, 2021 · 0 comments

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@yakunsjtu
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As the output of RMP is the joint acceleration, so is there any possibility to formulate a joint torque constraint as a subtask so that during the manipulator's motion the torque will not saturate?
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