输入受限的超冗余移动医疗机械臂混合控制
张凯波1，陈丽1，董琦2
Input-Constrained Hybrid Control of a Hyper-Redundant Mobile Medical Manipulator
ZHANG Kaibo1(张凯波)，CHEN Li1*(陈丽)，DONG Qi2(董琦)
J Shanghai Jiaotong Univ Sci . 2023, (3): 348 -359 .  DOI: 10.1007/s12204-023-2580-4