Input relegation control for gross motion of a kinematically redundant manipulator
This paper proposes a method for resolving the kinematic redundancy of a serial link manipulator moving in a three-dimensional workspace. The underspecified problem of solving for the joint velocities based on the classical kinematic velocity model is transformed into a well-specified problem. This is accomplished by augmenting the original model with additional equations which relate a new vector variable quantifying the redundant degrees of freedom (DOF) to the joint velocities. The resulting augmented system yields a well specified solution for the joint velocities. Methods for selecting the redundant DOF quantifying variable and the transformation matrix relating it to the joint velocities are presented so as to obtain a minimum Euclidean norm solution for the joint velocities. The results obtained from experimentally implementing the proposed scheme on the CESARM research manipulator [6, 10, 11, 12] are presented.
- Research Organization:
- Oak Ridge National Lab., TN (United States)
- Sponsoring Organization:
- USDOE, Washington, DC (United States)
- DOE Contract Number:
- AC05-84OR21400
- OSTI ID:
- 10120489
- Report Number(s):
- CONF-930736--1; ON: DE93005301
- Country of Publication:
- United States
- Language:
- English
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Input relegation control for gross motion of a kinematically redundant manipulator
Input relegation control for gross motion of a kinematically redundant manipulator