@inproceedings{huang_clamping_2014,
	title = {Clamping weighted least-norm method for the manipulator kinematic control: {Avoiding} joint limits},
	shorttitle = {Clamping weighted least-norm method for the manipulator kinematic control},
	doi = {10.1109/ChiCC.2014.6896393},
	abstract = {This paper presents the clamping weighted least-norm(CWLN) method for an inverse kinematic control of manipulators. The CWLN method combines the weighted least-norm technique with a clamping concept, which guarantees the join limits by damping the direction towards limits and forcing the joints away from their limits. Continuous weighted factor is used to improve the robustness of algorithm, and ensure the continuity of solution. The main task accuracy is sacrificed if necessary, to satisfy the joint-limit constraints. A simulation on the seven-degree-of-freedom(7 DOF) redundant manipulator illustrates the good performance for avoiding joint limits while tracking a given trajectory.},
	booktitle = {Proceedings of the 33rd {Chinese} {Control} {Conference}},
	author = {Huang, S. and Peng, Y. and Wei, W. and Xiang, J.},
	month = jul,
	year = {2014},
	keywords = {CWLN method, Jacobian matrices, Joints, Null space, clamping weighted least-norm method, clamps, continuous weighted factor, damping, inverse kinematic control, joint limits, joint limits avoidance, joint-limit constraints, kinematics, manipulator kinematic control, manipulator kinematics, manipulators, redundant manipulators, seven-degree-of-freedom redundant manipulator, weighted least-norm technique},
	pages = {8309--8314}
}

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The CWLN method combines the weighted least-norm technique with a clamping concept, which guarantees the join limits by damping the direction towards limits and forcing the joints away from their limits. Continuous weighted factor is used to improve the robustness of algorithm, and ensure the continuity of solution. The main task accuracy is sacrificed if necessary, to satisfy the joint-limit constraints. 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