Title :
Behaviors of extended Jacobian method for kinematic resolutions of redundancy
Author :
Park, Jonghoon ; Chung, W.K. ; Youm, Y.
Author_Institution :
Dept. of Mech. Eng., Pohang Univ. of Sci. & Technol., South Korea
Abstract :
The characteristic of an inverse kinematic solution for redundant manipulators using EJM is exploited with the sufficient condition for EJM. A new analytic perspective other than the well-known algebraic and less-known geometric one on algorithmic singularity of EJM is proposed, on the basis of optimization process. The characteristic of a solution with EJM is shown to be able to change only by crossing the algorithmic singularity thereof. A 3-DOF planar redundant robot is analyzed when EJM is applied with the manipulability as an example
Keywords :
Jacobian matrices; manipulator kinematics; optimisation; redundancy; EJM; algorithmic singularity; extended Jacobian method; kinematic resolutions; manipulability; optimization; redundancy; redundant manipulators; sufficient condition; Algorithm design and analysis; Equations; Jacobian matrices; Kinematics; Manipulator dynamics; Mechanical engineering; Null space; Orbital robotics; Robots; 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.1994.351005
