Title :
General Solutions to functional and kinematic Redundancy
Author :
From, Pål Johan ; Gravdahl, Jan Tommy
Author_Institution :
Norwegian Univ. of Sci. & Technol., Trondheim
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;
Conference_Titel :
Decision and Control, 2007 46th IEEE Conference on
Conference_Location :
New Orleans, LA
Print_ISBN :
978-1-4244-1497-0
Electronic_ISBN :
0191-2216
DOI :
10.1109/CDC.2007.4434442
