ALESSANDRO DE LUCA and GIUSEPPE ORIOLO
نویسنده
چکیده
We consider the problemof reconfiguringthe joints of a redundant robot driven only through end-effector velocity commands. Dependingon the chosen kinematic inversion scheme, this system behavior is subject to differential constraints that may be integrableor not. An analogy is established with non-holonomic systems, allowing the use of existing techniques to designcartesianinputs that bring the robot to the desired configuration. Two different control approachesare presentedfor a robot with a single degree of redundancy, based on the holonomy angle concept and on sinusoidal steering of chained-formsystems. Simulationresults are reportedand generalizationsare brieflydiscussed.
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