Near-pseudoinverse control of kinematically redundant manipulators with the constraint of repeatability
| dc.contributor.author | Roberts, Rodney G., author | |
| dc.contributor.author | Maciejewski, Anthony A., author | |
| dc.contributor.author | IEEE, publisher | |
| dc.date.accessioned | 2007-01-03T04:50:28Z | |
| dc.date.available | 2007-01-03T04:50:28Z | |
| dc.date.issued | 1991 | |
| dc.description.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. | |
| dc.format.medium | born digital | |
| dc.format.medium | proceedings (reports) | |
| dc.identifier.bibliographicCitation | Roberts, 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. | |
| dc.identifier.uri | http://hdl.handle.net/10217/1300 | |
| dc.language | English | |
| dc.language.iso | eng | |
| dc.publisher | Colorado State University. Libraries | |
| dc.relation.ispartof | Faculty Publications | |
| dc.rights | ©1991 IEEE. | |
| dc.rights | 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. | |
| dc.subject | control system analysis | |
| dc.subject | redundancy | |
| dc.subject | robots | |
| dc.title | Near-pseudoinverse control of kinematically redundant manipulators with the constraint of repeatability | |
| dc.type | Text |
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