New insights into input relegation control for inverse kinematics of a redundant manipulator. Part 2, The optimization of a secondary criteria involving self motion of the joints
The input relegation control (IRC) technique for redundancy resolution is extended to solve the problem of optimizing a scalar performance criteria representing a secondary objective to be accomplished via self motion of the joints. The criteria is defined to be the error between the vector of joint velocities and a new vector of ``corrective` joint velocities, which is minimized in a Eudidean norm sense. The corrective velocities represent a `corrective` action to be applied to the system and axe projected into the null space of the Jacoblan in the solution for the joint velocities. The report demonstrates that there exists a component in the solution for the joint velocities that induces self motion of the joints but is not a function of the ``corrective action``. A technique for eliminating this undesired component is presented. The method is compared to the well known gradient projection technique and its advantages are discussed.
- Research Organization:
- Oak Ridge National Lab. (ORNL), Oak Ridge, TN (United States)
- Sponsoring Organization:
- USDOE, Washington, DC (United States)
- DOE Contract Number:
- AC05-84OR21400
- OSTI ID:
- 89523
- Report Number(s):
- ORNL/TM-12813-Pt.2; ON: DE95014899
- Resource Relation:
- Other Information: PBD: Jul 1995
- Country of Publication:
- United States
- Language:
- English
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