Title :
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
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;
Conference_Titel :
Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
0-8186-5330-2
DOI :
10.1109/ROBOT.1994.350930
