Singularities, Stable Surfaces, and the Repeatable Behavior of Kinematically Redundant Manipulators
نویسندگان
چکیده
منابع مشابه
Singularities, Stable Surfaces, and the Repeatable Behavior of Kinematically Redundant Manipulators
There has been signiicant interest in the periodic behavior, generally referred to as repeatability, exhibited by a kinematically redundant manipulator while performing a cyclic end eeector motion. Much of the early work in this area has been restricted to planar manipulators whose connguration is described in terms of absolute joint angles in order to simplify the problem. Unfortunately, this ...
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There has been significant interest in the periodic behavior, generally referred to as repeatability, exhibited by a kinematically redundant manipulator while performing a cyclic end-effector motion. Much of the early work in this area has been restricted to planar manipulators whose configuration is described in terms of absolute joint angles to simplify the problem. Unfortunately, this has re...
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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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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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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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ژورنال
عنوان ژورنال: The International Journal of Robotics Research
سال: 1994
ISSN: 0278-3649,1741-3176
DOI: 10.1177/027836499401300105