Title :
Manipulability constraint locus for a redundant manipulator
Author :
Choi, Byoung Wook ; Won, Jong Hwa ; Chung, Myung Jin
Author_Institution :
Dept. of Electr. Eng., Korea Adv. Inst. of Sci. & Technol., Seoul, South Korea
Abstract :
A manipulability constraint locus to characterize the performance of a subtask for a redundant manipulator is suggested. The manipulability constraint locus is the loci of configurations satisfying the necessary condition for optimality of the manipulability measure in the configuration space. Using the manipulability constraint locus, the topological property of the configuration space and the invertible workspace without singularities are analyzed. Through numerical example, some limitations of the inverse kinematic algorithms when one utilizes the redundancy are investigated. Finally, a promising algorithm which provides a conservative joint trajectory without singularities for almost entire workspace is proposed
Keywords :
control system analysis; kinematics; redundancy; robots; topology; configuration space; inverse kinematic; joint trajectory; manipulability constraint locus; necessary condition; optimality; redundancy; redundant manipulator; robots; topology; Constraint optimization; Jacobian matrices; Kinematics; Optimization methods; Space technology;
Conference_Titel :
Intelligent Robots and Systems '91. 'Intelligence for Mechanical Systems, Proceedings IROS '91. IEEE/RSJ International Workshop on
Conference_Location :
Osaka
Print_ISBN :
0-7803-0067-X
DOI :
10.1109/IROS.1991.174444
