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In previous research, an equivalence for the MVN (minimum velocity norm) scheme on robotic redundancy resolution have been shown by Zhang et al, that is, Zhang equivalence (ZE) with MVN type. In this work, as the extension of the MVN-type ZE, a new acceleration-level minimization scheme with a generalized formulation is studied for redundant robot manipulators. Then, this minimization scheme is theoretically...
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