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A comparison of two methods for choosing repeatable control strategies for kinematically redundant manipulators

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dc.contributor.authorMaciejewski, Anthony A., author
dc.contributor.authorRoberts, Rodney G., author
dc.contributor.authorIEEE, publisher
dc.date.accessioned2007-01-03T06:16:15Z
dc.date.available2007-01-03T06:16:15Z
dc.date.issued1992
dc.description.abstractA kinematically redundant manipulator is a robotic system that has more than the minimum number of degrees of freedom that are required for a specified task. Due to this additional freedom, control strategies may yield solutions which are not repeatable in the sense that the manipulator may not return to its initial joint configuration for closed end effector paths. This paper presents two methods for choosing repeatable control strategies which minimize their distance from a non-repeatable inverse with desirable properties. The first method minimizes the integral norm of the difference of the desired inverse and a repeatable inverse. While this is the more appropriate criterion, it results in a difficult optimization. The second method, which minimizes the distance of the null vectors associated with the desired and the repeatable inverses, is somewhat easier to implement. As an illustrative example the pseudoinverse is approximated in a region of the joint space using both techniques.
dc.description.sponsorshipThis work was supported by Sandia National Laboratories under contract number I8-4379B. Additional support was provided by the NEC Corporation and the TRW Foundation.
dc.format.mediumborn digital
dc.format.mediumproceedings (reports)
dc.identifier.bibliographicCitationRoberts, Rodney G. and Anthony A. Maciejewski, A Comparison of Two Methods for Choosing Repeatable Control Strategies for Kinematically Redundant Manipulators, Proceedings: 1992 IEEE International Conference on Robotics and Automation, May 12-14, 1992, Nice, France: 514-519.
dc.identifier.urihttp://hdl.handle.net/10217/1208
dc.languageEnglish
dc.language.isoeng
dc.publisherColorado State University. Libraries
dc.relation.ispartofFaculty Publications
dc.rights©1992 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.subjectrobots
dc.subjectredundancy
dc.subjectoptimisation
dc.subjectkinematics
dc.titleA comparison of two methods for choosing repeatable control strategies for kinematically redundant manipulators
dc.typeText

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