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On the implementation of velocity control for kinematically redundant manipulators

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dc.contributor.authorMaciejewski, Anthony A., author
dc.contributor.authorEnglish, James D., author
dc.contributor.authorIEEE, publisher
dc.date.accessioned2007-01-03T08:09:32Z
dc.date.available2007-01-03T08:09:32Z
dc.date.issued2000
dc.description.abstractThe velocity control of kinematically redundant manipulators has been addressed through a variety of approaches. Though they differ widely in their purpose and method of implementation, most are optimizations that can be characterized by LiƩgeois's method. This characterization is used in this article to develop a single framework for implementing different methods by simply selecting a scalar, a function of configuration, and a joint-rate weighting matrix. These quantities are used to form a fully constrained linear system by row augmenting the manipulator Jacobian with a weighted basis of its nullspace and augmenting the desired hand motion with a vector function of the nullspace basis. The framework is shown to be flexible, computationally efficient, and accurate.
dc.format.mediumborn digital
dc.format.mediumarticles
dc.identifier.bibliographicCitationEnglish, James D. and Anthony A. Maciejewski, On the Implementation of Velocity Control for Kinematically Redundant Manipulators, IEEE Transactions on Systems, Man, and Cybernetics. Part A, Systems and Humans 30, no. 3 (May 2000): 233-237.
dc.identifier.urihttp://hdl.handle.net/10217/67360
dc.languageEnglish
dc.language.isoeng
dc.publisherColorado State University. Libraries
dc.relation.ispartofFaculty Publications
dc.rightsĀ©2000 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.subjectredundant robots/manipulators
dc.subjectkinematically redundant
dc.subjectkinematics
dc.subjectmanipulators
dc.subjectcontrol
dc.subjectvelocity control
dc.titleOn the implementation of velocity control for kinematically redundant manipulators
dc.typeText

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