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Calculation of 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.authorKluwer Academic Publishers, publisher
dc.date.accessioned2007-01-03T08:09:31Z
dc.date.available2007-01-03T08:09:31Z
dc.date.issued1995
dc.description.abstractA kinematically redundant manipulator is a robotic system that has more than the minimum number of degrees of freedom that are required for a specified task. Due to this additional freedom, control strategies may yield solutions which are not repeatable in the sense that the manipulator may not return to its initial joint configuration for closed end-effector paths. This paper compares two methods for choosing repeatable control strategies which minimize their distance from a nonrepeatable inverse with desirable properties. The first method minimizes the integral norm of the difference of the desired inverse and a repeatable inverse while the second method minimizes the distance of the null vectors associated with the desired and the repeatable inverses. It is then shown how the two techniques can be combined in order to obtain the advantages of both methods. As an illustrative example the pseudoinverse is approximated in a region of the joint space for a seven-degree-of-freedom manipulator.
dc.format.mediumborn digital
dc.format.mediumarticles
dc.identifier.bibliographicCitationRoberts, Rodney G. and Anthony A. Maciejewski, Calculation of Repeatable Control Strategies for Kinematically Redundant Manipulators, Journal of Intelligent and Robotic Systems 14, no. 1 (September 1995): 105-130.
dc.identifier.urihttp://hdl.handle.net/10217/67349
dc.languageEnglish
dc.language.isoeng
dc.publisherColorado State University. Libraries
dc.relation.ispartofFaculty Publications
dc.rights©1995 Kluwer Academic Publishers.
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.subjectpseudoinverse
dc.subjectrepeatability
dc.subjectkinematically redundant
dc.titleCalculation of repeatable control strategies for kinematically redundant manipulators
dc.typeText

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