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

Volume

16

Issue

5

fYear

2000

fDate

10/1/2000 12:00:00 AM

Firstpage

592

Lastpage

596

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;

fLanguage

English

Journal_Title

Robotics and Automation, IEEE Transactions on

Publisher

ieee

ISSN

1042-296X

Type

jour

DOI

10.1109/70.880809

Filename

880809