An efficient gradient projection optimization scheme for a seven-degree-of-freedom redundant robot with spherical wrist
Conference
·
OSTI ID:5370074
A computationally efficient kinematic control scheme is presented for a seven-degree-of-freedom redundant robot with spherical wrist. This scheme uses a gradient projection optimization method, which eliminates the need to determine the generalized inverse of the Jacobian when solving for joint velocities for given Cartesian end-effector velocities. Closed-form solutions are obtained for joint velocities using this approach. The application of this scheme to the seven-degree-of-freedom manipulator at the Center for Engineering Systems Advanced Research (CESAR) is described. 24 refs., 7 figs., 1 tab.
- Research Organization:
- Oak Ridge National Lab., TN (USA); Tennessee Univ., Knoxville (USA). Dept. of Mechanical and Aerospace Engineering
- DOE Contract Number:
- AC05-84OR21400
- OSTI ID:
- 5370074
- Report Number(s):
- CONF-880424-7; ON: DE88005440
- Country of Publication:
- United States
- Language:
- English
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