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Zhang et al. recently design a special difference formula called the Zhang finite-difference (ZFD) formula. This paper applies the ZFD formula for the kinematic control of redundant robot manipulators, due to its good performance in approximating first-order derivatives. Specifically, the ZFD formula is employed to discrete the pseudoinverse-based (P-based) kinematic control scheme; a new P-based kinematic control scheme with guaranteed motion precision is developed for redundant robot manipulators. Simulation results based on a five-link planar robot manipulator, which performs different end-effector paths, validate the effectiveness of the new scheme and indicate the application prospects of the ZFD formula.
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Li et al. (2018) studied this question.
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