Near-pseudoinverse control of kinematically redundant manipulators with the constraint of repeatability
Date
1991
Authors
Roberts, Rodney G., author
Maciejewski, Anthony A., author
IEEE, publisher
Journal Title
Journal ISSN
Volume Title
Abstract
The 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.
Description
Rights Access
Subject
control system analysis
redundancy
robots