Repeatable generalized inverse control strategies for kinematically redundant manipulators
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Kinematically redundant manipulators possess an infinite number of joint angle trajectories which satisfy a given desired end effector trajectory. The joint angle trajectories considered in this work are locally described by generalized inverses which satisfy the Jacobian equation relating the instantaneous joint angle velocities to the velocity of the end effector. One typically selects a solution from this set based on the local optimization of some desired physical property such as the minimization of the norm of the joint angle velocities, kinetic energy, etc. Unfortunately, this type of ...