Title :
The nature of drift in pseudoinverse control of kinematically redundant manipulators
Author :
Klein, Charles A. ; Kee, Koh-Boon
Author_Institution :
Dept. of Electr. Eng., Ohio State Univ., Columbus, OH, USA
fDate :
4/1/1989 12:00:00 AM
Abstract :
The control of kinematically redundant manipulators using only pseudoinverse control is known to produce drift in joint space when a cyclic task is performed in rectilinear space. The properties of this drift are examined by performing numerical experiments. This drift has predictable properties including a numerically stable limit in some situations. At this limit the arc length of the path in joint space appears to be near a minimum
Keywords :
kinematics; redundancy; robots; cyclic task; drift; joint space; kinematically redundant manipulators; pseudoinverse control; rectilinear space; robots; Communication system control; Equations; Jacobian matrices; Kinematics; Manipulators; Motion control; Null space; Orbital robotics; Robots; Vehicles;
Journal_Title :
Robotics and Automation, IEEE Transactions on
