Control of kinematically redundant robots using {1}-inverses

V Lovass-Nagy, RJ Schilling - IEEE transactions on systems …, 1987 - ieeexplore.ieee.org
V Lovass-Nagy, RJ Schilling
IEEE transactions on systems, man, and cybernetics, 1987ieeexplore.ieee.org
Resolved motion rate control of kinematically redundant manipulators using the simplest of
the generalized inverses, the {1}-inverse, is investigated. For the case of a planar articulated
coordinate redundant robot with an arbitrary number of axes, closed-form equations for the
joint rates are developed. The structure of these equations is such that the redundant joint
velocities can be arbitrarily specified. Simple constraints are presented which ensure that
closed trajectories in gripper configuration space generate closed trajectories in joint space …
Resolved motion rate control of kinematically redundant manipulators using the simplest of the generalized inverses, the {1}-inverse, is investigated. For the case of a planar articulated coordinate redundant robot with an arbitrary number of axes, closed-form equations for the joint rates are developed. The structure of these equations is such that the redundant joint velocities can be arbitrarily specified. Simple constraints are presented which ensure that closed trajectories in gripper configuration space generate closed trajectories in joint space. A strategy for controlling the redundant joint rates that is applicable to obstacle avoidance is examined and illustrated with examples.
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