An experimental study of resolved acceleration control in singularities: damped least-squares approach

Author

Kircanski, M. ; Kircanski, M. ; Lekovic, Dj ; Vukobratovic, M.

Author_Institution

Mihailo Pupin Inst., Belgrade, Yugoslavia

fYear

1994

fDate

8-13 May 1994

Firstpage

2686

Abstract

In this paper the application of the damped least-squares method to the resolved-acceleration control is experimentally examined on a 2-DOF planar manipulator In order to decrease the position error introduced by the damping, only small singular values are damped. The symbolical expressions of the singular value decomposition of the Jacobian matrix were utilized in order to decrease the computational burden. Position error along the work-space boundary was only 15% greater than along the trajectories inside the reachable workspace

Keywords

acceleration control; force control; least squares approximations; manipulators; matrix decomposition; singular value decomposition; 2-DOF planar manipulator; Jacobian matrix; damped least-squares approach; position error; resolved acceleration control; singular value decomposition; singularities; small singular values; work-space boundary; Acceleration; Computational complexity; Damping; Error correction; Force control; Jacobian matrices; Kinematics; Manipulators; Matrix decomposition; Transmission line matrix methods;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on

Conference_Location

San Diego, CA

Print_ISBN

0-8186-5330-2

Type

conf

DOI

10.1109/ROBOT.1994.350930

Filename

350930