Title :
An extension to operational space for kinematically redundant manipulators: kinematics and dynamics
Author :
Chang, Pyung-Hun ; Park, Ki Cheol ; Lee, Sukhan
Author_Institution :
Dept. of Mech. Eng., Korea Adv. Inst. of Sci. & Technol., Taejon, South Korea
fDate :
10/1/2000 12:00:00 AM
Abstract :
An extension to operational space (EXOS) is presented for the explicit representation of the null-space (NS) dynamics and its interaction with the operational-space dynamics. First, the EXOS Jacobian is formed by augmenting the Jacobian matrix with a minimum number of its NS vectors. Based on the EXOS Jacobian, free of algorithmic singularity, the kinematics, statics, and dynamics of a redundant manipulator are derived in a compact form. In particular, the resulting EXOS dynamics is able to identify the inner dynamic structure. Its efficacy and efficiency have been demonstrated through comparative analysis and simulation
Keywords :
Jacobian matrices; manipulator dynamics; redundant manipulators; inner dynamic structure; kinematically redundant manipulators; null-space dynamics; operational space; operational-space dynamics; statics; Analytical models; Equations; Jacobian matrices; Kinematics; Manipulator dynamics; Mechanical engineering; Motion analysis; Motion control; Null space; Service robots;
Journal_Title :
Robotics and Automation, IEEE Transactions on
