• DocumentCode
    1249653
  • Title

    Subtask performance by redundancy resolution for redundant robot manipulators

  • Author

    Walker, Ian D. ; Marcus, Steven I.

  • Author_Institution
    Dept. of Electr. & Comput. Eng., Texas Univ., Austin, TX, USA
  • Volume
    4
  • Issue
    3
  • fYear
    1988
  • fDate
    6/1/1988 12:00:00 AM
  • Firstpage
    350
  • Lastpage
    354
  • Abstract
    The problem of selecting joint space trajectories for redundant manipulators is considered. Solutions which allow secondary tasks to be performed by the arm simultaneously with end-effector motions may be selected in a number of ways. An algorithm to accomplish this, by means of conditions on a scalar function of the joint variables, is introduced and analyzed. Problems inherent in schemes involving constraints in configuration space are considered
  • Keywords
    position control; redundancy; robots; end-effector motions; joint space trajectories; redundancy; redundant robot manipulators; scalar function; subtask performance; Algorithm design and analysis; Communication system control; End effectors; Jacobian matrices; Legged locomotion; Manipulators; Military computing; Orbital robotics; Robot kinematics; Robotics and automation;
  • fLanguage
    English
  • Journal_Title
    Robotics and Automation, IEEE Journal of
  • Publisher
    ieee
  • ISSN
    0882-4967
  • Type

    jour

  • DOI
    10.1109/56.795
  • Filename
    795
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=1249653