Task-Space Singularity Avoidance for Control Affine Systems Using Control Barrier Functions

Fuente: arXiv

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Bibliographic Details
Main Authors:	Forghani, Kimia, Raval, Suraj, Mair, Lamar, Krieger, Axel, Diaz-Mercado, Yancy
Format:	Preprint
Published:	2026
Subjects:	Robotics
Online Access:	Acceder al recurso
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Internet

https://arxiv.org/abs/2603.23753