Comparative study of redundancy based on Resolved Motion Rate Control Algorithm

Author

Hongxing Wang ; Ruifeng Li ; Lianzheng Ge ; Chuqing Cao

Author_Institution

State Key Lab. of Robot. & Syst., Harbin Inst. of Technol., Harbin, China

fYear

2014

fDate

28-30 July 2014

Firstpage

126

Lastpage

130

Abstract

Resolved Motion Rate Control Algorithm is a kind of coordination control algorithm. The algorithm decomposes the movement of the manipulator end-effectors into the movement of the moving platform and each 3D manipulator joint harmoniously. The paper separately sets up the motion models of the fixed arm and the mobile 3D manipulator and researches redundancies of them based on the Resolved Motion Rate Control Algorithm. Compared the simulation result with the one of the fixed arm, the mobile 3D manipulator shows better smoothness, flexibility and greater workspace in mobile operating process as the more redundancy is got with the DOF of the mobile platform added.

Keywords

end effectors; manipulator kinematics; mobile robots; motion control; 3D manipulator joint; coordination control algorithm; manipulator end-effectors; mobile 3D manipulator; mobile operating process; mobile platform; motion models; redundancy; resolved motion rate control algorithm; Joints; Manipulators; Mathematical model; Mobile communication; Redundancy; Three-dimensional displays; Generalized Jacobian matrix; Mobile 3D manipulator; Mobile operation; Redundancy; Resolved motion rate control;

fLanguage

English

Publisher

ieee

Conference_Titel

Information and Automation (ICIA), 2014 IEEE International Conference on

Conference_Location

Hailar

Type

conf

DOI

10.1109/ICInfA.2014.6932639

Filename

6932639