Resolving manipulator redundancy under inequality constraints

Journal Article · Tue Feb 01 04:00:00 EST 1994 · IEEE Transactions on Robotics and Automation (Institute of Electrical and Electronics Engineers); (United States)

DOI:https://doi.org/10.1109/70.285587· OSTI ID:7235290

Cheng, F T; Chen, T H; Sun, Y Y ^[1]

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1. National Cheng Kung Univ., Tainan (Taiwan, Province of China). Dept. of Electrical Engineering

Due to hardware limitations, physical constraints such as joint rate bounds, joint angle limits, and joint torque constraints always exist. In this paper, these constraints are considered into the general formulation of the redundant inverse kinematic problem. To take these physical constraints into account, the computationally efficient Compact Quadratic Programming (QP) method is formed to resolve the constrained kinematic redundancy problem. In addition, the Compact-Inverse QP method is also formulated to remedy the unescapable singularity problem with inequality constraints. Two examples are given to demonstrate the generality and superiority of these two methods: to eliminate the drift phenomenon caused by self motion and to remedy saturation-type nonlinearity problem.

• OSTI ID: 7235290
• Journal Information: IEEE Transactions on Robotics and Automation (Institute of Electrical and Electronics Engineers); (United States), Journal Name: IEEE Transactions on Robotics and Automation (Institute of Electrical and Electronics Engineers); (United States) Vol. 10:1; ISSN 1042-296X; ISSN IRAUEZ
• Country of Publication: United States
• Language: English

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