DocumentCode :
1379479
Title :
A General User-Oriented Framework for Holonomic Redundancy Resolution in Robotic Manipulators Using Task Augmentation
Author :
Zanchettin, Andrea Maria ; Rocco, Paolo
Author_Institution :
Dipt. di Elettron. e Inf., Politec. di Milano, Milan, Italy
Volume :
28
Issue :
2
fYear :
2012
fDate :
4/1/2012 12:00:00 AM
Firstpage :
514
Lastpage :
521
Abstract :
Redundant robotic manipulators under kinematic control may exhibit unpredictable behaviors at the joint level. When the end effector describes a closed trajectory, the joint angles may not return to their initial values. Likewise, final configuration in the joint space may depend on the trajectory that is followed by the end effector. In this paper, a complete parameterization of holonomic redundancy resolution techniques that avoid these problems is proposed. The flexibility of the proposed approach is discussed. In particular, it is shown that the selection of the redundancy resolution criterion is totally decoupled from the implementation of a closed-loop inverse kinematics (CLIK) algorithm. Any user-defined redundancy resolution criterion can, thus, be enforced. Potentialities of this new methodology are experimentally verified on an industrial robot in a case study where functional redundancy occurs and is applied in simulation on a 7-degree-of-freedom (7-DOF) anthropomorphic manipulator.
Keywords :
closed loop systems; end effectors; industrial manipulators; manipulator kinematics; redundant manipulators; 7-degree-of-freedom anthropomorphic manipulator; closed-loop inverse kinematics algorithm; end effector; holonomic redundancy resolution technique; industrial robot; kinematic control; redundant robotic manipulator; task augmentation; user-defined redundancy resolution criterion; user-oriented framework; Cost function; Jacobian matrices; Joints; Kinematics; Manipulators; Redundancy; Kinematics; path planning for manipulators; programming environment; redundant robots;
fLanguage :
English
Journal_Title :
Robotics, IEEE Transactions on
Publisher :
ieee
ISSN :
1552-3098
Type :
jour
DOI :
10.1109/TRO.2011.2173852
Filename :
6084763
Link To Document :
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