Roberts, Rodney G., authorMaciejewski, Anthony A., authorIEEE, publisher2007-01-032007-01-031991Roberts, Rodney G. and Anthony A. Maciejewski, Near-Pseudoinverse Control of Kinematically Redundant Manipulators with the Constraint of Repeatability, IEEE International Conference on Systems Engineering, August 1-3, 1991, Fairborn, Ohio: 117-120.http://hdl.handle.net/10217/1300The issue of repeatability is addressed for a particular redundant manipulator. This particular manipulator is a planar three-link manipulator with two orthogonal, prismatic joints and a third revolute joint. This manipulator can be thought of as a mobile robot with one revolute joint. It is shown that pseudoinverse control has no stable surfaces for this robotic manipulator. A class of repeatable inverses is then derived. Finally the repeatable inverse which is closest in an integral norm sense to the pseudoinverse is found from this class.born digitalproceedings (reports)eng©1991 IEEE.Copyright 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.control system analysisredundancyrobotsText