A new formulation of the extended Jacobian method and its use in mapping algorithmic singularities for kinematically redundant manipulators

Author

Klein, Charles A. ; Chu-Jenq, Caroline ; Ahmed, Shamim

Author_Institution

Dept. of Electr. Eng., Ohio State Univ., Columbus, OH, USA

Volume

11

Issue

1

fYear

1995

fDate

2/1/1995 12:00:00 AM

Firstpage

50

Lastpage

55

Abstract

The extended Jacobian method resolves the redundancy of a kinematically redundant manipulator such that a secondary criterion is kept at an optimal value. This paper describes a new formulation of this algorithm that is well suited numerically for systems with multiple degrees of redundancy and for more general choices of the secondary criterion. This formulation is used here for tracing algorithmic singularities, which mark a boundary of operation for any algorithm using the same secondary criterion to resolve the redundancy. Examples of tracing algorithmic singularities are presented for both planar and spatial systems

Keywords

Jacobian matrices; control system analysis; manipulators; motion control; redundancy; algorithmic singularities; extended Jacobian method; kinematically redundant manipulators; planar systems; redundancy; secondary criterion; spatial systems; Control systems; End effectors; Equations; Jacobian matrices; Manipulators; Motion control; Null space; Robots; Spatial resolution; Velocity control;

fLanguage

English

Journal_Title

Robotics and Automation, IEEE Transactions on

Publisher

ieee

ISSN

1042-296X

Type

jour

DOI

10.1109/70.345937

Filename

345937