Cartesian Control of Vgt Manipulators Applied to Doe Hardware

This paper introduces a novel method for Cartesian trajectory and performance optimization control of kinematically-redundant truss-based manipulators (TBMs): The Virtual Serial Manipulator Approach. The approach is to model complex parallel-actuated TBMs as simpler kinematically-equivalent virtual serial manipulators. Standard control methods for kinematicallyredundant serial manipulators can then be adapted to the real-time control of TBMs. The forward kinematics transformation can be calculated more efficiently using the equivalent virtual parameters, compared to the computationally intensive parallel-actuated forward kinematics transformation. The method is applicable to any TBM whose modules can be modeled as a virtual serial chain. It also handles TBMs constructed of dissimilar modules, and compound manipulators with serial and parallel-actuated joints. The method is applicable for any level of kinematic redundancy. The method is applied to Cartesian control of the Selective Equipment Removal System deployment manipulator, an eight-dof manipulator proposed for the DOE Decontamination & Dismantling (D&D) program.