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Nearest optimal repeatable control strategies for kinematically redundant manipulators

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dc.contributor.authorMaciejewski, Anthony A., author
dc.contributor.authorRoberts, Rodney G., author
dc.contributor.authorIEEE, publisher
dc.date.accessioned2007-01-03T08:09:29Z
dc.date.available2007-01-03T08:09:29Z
dc.date.issued1992
dc.description.abstractKinematically redundant manipulators, by definition, possess an infinite 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-reflector do not result in closed trajectories in the joint space. The Lie bracket condition (LBC) can be used to check for the possibility of integral surfaces, also called stable surfaces, which define regions of repeatable behavior. However, the LBC is only a necessary condition. A necessary and sufficient condition for the existence of stable surfaces is used to illustrate that such surfaces are much rarer than previously thought. A technique for designing a repeatable control that is nearest, in an integral norm sense, to a desired optimal control is presented. The desired optimal control is allowed to take the form of any generalized inverse. An example is presented that illustrates the capability of designing repeatable controls that approximate the behavior of desired optimal inverses in selected regions of the workspace.
dc.format.mediumborn digital
dc.format.mediumarticles
dc.identifier.bibliographicCitationRoberts, Rodney G. and Anthony A. Maciejewski, Nearest Optimal Repeatable Control Strategies for Kinematically Redundant Manipulators, IEEE Transactions on Robotics and Automation 8, no. 3 (June 1992): 327-337.
dc.identifier.urihttp://hdl.handle.net/10217/67340
dc.languageEnglish
dc.language.isoeng
dc.publisherColorado State University. Libraries
dc.relation.ispartofFaculty Publications
dc.rights©1992 IEEE.
dc.rightsCopyright and other restrictions may apply. User is responsible for compliance with all applicable laws. For information about copyright law, please see https://libguides.colostate.edu/copyright.
dc.subjectkinematics
dc.subjectrobots
dc.subjectoptimal control
dc.subjectcontrol system synthesis
dc.titleNearest optimal repeatable control strategies for kinematically redundant manipulators
dc.typeText

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