DocumentCode
2821612
Title
General Solutions to functional and kinematic Redundancy
Author
From, Pål Johan ; Gravdahl, Jan Tommy
Author_Institution
Norwegian Univ. of Sci. & Technol., Trondheim
fYear
2007
fDate
12-14 Dec. 2007
Firstpage
5779
Lastpage
5786
Abstract
A systematic and general approach to represent functional redundancy is presented. It is shown how this approach allows the freedom provided by functional redundancy to be integrated into the inverse geometric problem for real-time applications and how it can be utilised to improve performance. A set of new iterative solutions to the inverse geometric problem, well suited for kinematically redundant manipulators, is also presented.
Keywords
end effectors; inverse problems; iterative methods; minimisation; motion control; path planning; position control; redundant manipulators; end effector configuration; functional redundancy; inverse geometric problem; iterative solution; kinematic redundancy; kinematically redundant manipulators; Closed-form solution; Control systems; Cost function; Jacobian matrices; Kinematics; Manipulators; Path planning; Quaternions; Redundancy; USA Councils;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 2007 46th IEEE Conference on
Conference_Location
New Orleans, LA
ISSN
0191-2216
Print_ISBN
978-1-4244-1497-0
Electronic_ISBN
0191-2216
Type
conf
DOI
10.1109/CDC.2007.4434442
Filename
4434442
Link To Document