Global Redundancy Resolution via Continuous Pseudoinversion of the Forward Kinematic Map
نویسندگان
چکیده
منابع مشابه
Continuous Pseudoinversion of a Multivariate Function: Application to Global Redundancy Resolution
This paper seeks to generate a continuous pseudoinverse of a function that maps a higher dimensional compact set to a lower dimensional one. Continuity and smoothness should be attained if possible, but otherwise the volume of the discontinuity boundary should be minimized. A sampling-based approximation technique is presented that uses discretized roadmaps of both the domain and image, and min...
متن کاملRedundancy Resolution of Robot Manipulators Using Optimal Kinematic Control
Ab3tractGlobally optimal redundancy resolution in robot manipulators has been at t racted research interests and investigated with eager. Some researchers have attacked t h e redundancy resolution with optimization techniques and others with Pontryagin's principle. In this paper, as an another approach w e propose the optimal kinematic control. The formulation is: first to convert the redundanc...
متن کاملIntegrable Solutions of Kinematic Redundancy via Impedance Control
Problems arising when kinematically redundant manipulators are controlled using the Jacobian pseudoinverse are related to the non-integrability of the standard pseudo-inverse. This paper presents a class of generalized inverses which have the property of being integrable within any simply connected, nonsingular region of the workspace. Integrability is obtained by deriving the equations which d...
متن کاملOn the structure of minimum effort solutions with application to kinematic redundancy resolution
There exist in robotics, as in many other disciplines, problems described by an underdetermined set of constraints, possessing an infinite number of solutions. The problem of robot manipulator redundancy resolution is just such a situation, requiring that a particular solution be chosen according to some type of optimization criterion. One possibility employs a type of optimization which minimi...
متن کاملnew semigroup compactifications via the enveloping semigroups of associated flows
this thesis deals with the construction of some function algebras whose corresponding semigroup compactification are universal with respect to some properies of their enveloping semigroups. the special properties are of beigan a left zero, a left simple, a group, an inflation of the right zero, and an inflation of the rectangular band.
15 صفحه اولذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: IEEE Transactions on Automation Science and Engineering
سال: 2018
ISSN: 1545-5955,1558-3783
DOI: 10.1109/tase.2018.2805878