An efficient gradient projection optimization scheme for a seven-degree-of-freedom redundant robot with spherical wrist

Conference · Fri Jan 01 00:00:00 EST 1988

OSTI ID:5370074

Dubey, R V; Euler, J A; Babcock, S M

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
• Resource Relation: Conference: IEEE international conference on robotics and automation, Philadelphia, PA, USA, 25 Apr 1988; Other Information: Portions of this document are illegible in microfiche products
• Country of Publication: United States
• Language: English

Related Subjects

42 ENGINEERING
ROBOTS
CONTROL THEORY
DEGREES OF FREEDOM
JOINTS
MANIPULATORS
MATRICES
EQUIPMENT
LABORATORY EQUIPMENT
MATERIALS HANDLING EQUIPMENT
REMOTE HANDLING EQUIPMENT
420200* - Engineering- Facilities
Equipment
& Techniques