DocumentCode
1446700
Title
Kinematic control of redundant robots and the motion optimizability measure
Author
Li, Luya ; Gruver, William A. ; Zhang, Qixian ; Yang, Zongxu
Author_Institution
Sch. of Eng. Sci., Simon Fraser Univ., Burnaby, BC, Canada
Volume
31
Issue
1
fYear
2001
fDate
2/1/2001 12:00:00 AM
Firstpage
155
Lastpage
160
Abstract
This paper treats the kinematic control of manipulators with redundant degrees of freedom. We derive an analytical solution for the inverse kinematics that provides a means for accommodating joint velocity constraints in real time. We define the motion optimizability measure and use it to develop an efficient method for the optimization of joint trajectories subject to multiple criteria. An implementation of the method for a 7-dof experimental redundant robot is present
Keywords
motion control; redundant manipulators; inverse kinematics; kinematic control; manipulators; motion optimizability; redundant robots; Aerospace industry; Intelligent robots; Manipulators; Motion control; Motion measurement; Optimization methods; Orbital robotics; Robot control; Robot kinematics; Service robots;
fLanguage
English
Journal_Title
Systems, Man, and Cybernetics, Part B: Cybernetics, IEEE Transactions on
Publisher
ieee
ISSN
1083-4419
Type
jour
DOI
10.1109/3477.907575
Filename
907575
Link To Document