Kinematic Inversion of Functionally-Redundant Serial Manipulators:

نویسندگان

  • Liguo Huo
  • Luc Baron
چکیده

This paper introduces the concept of functional redundancy of serial manipulators, and presents a new resolution scheme to solve such redundant robotic tasks requiring less than six degrees-of-freedom. Instead of projecting the secondary task onto the null space of the Jacobian matrix in order to take advantage of the redundancy, the twist of endeffector is directly decomposes into two orthogonal subspaces where the main and secondary tasks lie, respectively. The algorithm has shown to be computationally efficient and well suited to solve functionally-redundant robotic tasks, such as arcwelding. Inversion cinématique des manipulateurs séries fonctionnellement redondants: application au soudage à l’arc Résumé Cet article introduit le concept de redondance fonctionnelle des manipulateurs séries, et propose une nouvelle approche de résolution de la redondance pour de telles tâches robotiques exigeant moins de six degré-de-liberté. Cette approche est basée sur la décomposition du torseur de vitesse dans deux sous-espaces cartésiens. Au lieu de projeter la solution sur le noyau de la matrice jacobienne comme le font la majorité des autres approches, le torseur de vitesse associé à l'effecteur est décomposé en deux sousespaces appropriés, l'un est le sous-espace de la tâche principale, l'autre celui de la tâche redondante. L’algorithme est numériquement efficace et bien adapté à la résolution des tâches robotiques fonctionnellement redondants tels que le soudage à l’arc.

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تاریخ انتشار 2006