Repeatable generalized inverse control strategies for kinematically redundant manipulators
نویسندگان
چکیده
منابع مشابه
Repeatable Generalized Inverse Control Strategies for Kinematically Redundant Manipulators
Kinematically redundant manipulators possess an innnite number of joint angle tra-jectories which satisfy a given desired end eeector trajectory. The joint angle trajectories considered in this work are locally described by generalized inverses which satisfy the Ja-cobian equation relating the instantaneous joint angle velocities to the velocity of the end eeector. One typically selects a solut...
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Kinematically redundant manipulators, by deenition, possess an innnite number of generalized inverse control strategies for solving the Jacobian equation. These control strategies are not, in general, repeatable in the sense that closed trajectories for the end eeector do not result in closed trajectories in the joint space. The Lie Bracket Condition (LBC) can be used to check for the possibili...
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| A kinematically redundant manipulator is a robotic system that has more than the minimum number of degrees of freedom that are required for a speciied task. Due to this additional freedom, control strategies may yield solutions which are not repeat-able in the sense that the manipulator may not return to its initial joint connguration for closed end-eeector paths. This paper compares two meth...
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The velocity control of kinematically redundant manipulators has been addressed through a variety of approaches. Though they differ widely in their purpose and method of implementation, most are optimizations that can be characterized by Liégeois’s method. This characterization is used in this article to develop a single framework for implementing different methods by simply selecting a scalar,...
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This work considers real-time fault-tolerant control of kinematically redundant manipulators to single locked-joint failures. The fault-tolerance measure used is a worst-case quantity, given by the minimum, over all single joint failures, of the minimum singular value of the post-failure Jacobians. Given any end-effector trajectory, the goal is to continuously follow this trajectory with the ma...
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ژورنال
عنوان ژورنال: IEEE Transactions on Automatic Control
سال: 1993
ISSN: 0018-9286
DOI: 10.1109/9.277234