Title :
A new approach to the kinematic control of redundant manipulators
Author :
Chen, Weihai ; Zhang, Qixian ; Yang, Zongxu ; Gruver, William A.
Author_Institution :
Inst. of Robot Res., Beijing Univ. of Aeronaut. & Astronaut., China
Abstract :
A modified weighted gradient projection method is presented for the optimization of kinematics of redundant robotic manipulators. The method utilizes the matrix weightability measure and the self-motion declinability measure. By these means the weighting matrix and the self-motion amplitude can be determined from the homogeneous solution. Because the optimization method is based on a least-norm solution, it can obtain optimal solutions at low joint velocities. This characteristic has been verified by simulation
Keywords :
manipulator kinematics; matrix algebra; optimisation; redundancy; homogeneous solution; kinematic control; least-norm solution; low joint velocities; matrix weightability measure; modified weighted gradient projection method; optimization; redundant manipulators; self-motion amplitude; self-motion declinability measure; weighting matrix; Erbium; Jacobian matrices; Kinematics; Manipulators; Message-oriented middleware; Motion measurement; Optimization methods; Robot control; Transmission line matrix methods; Weight measurement;
Conference_Titel :
Systems, Man and Cybernetics, 1995. Intelligent Systems for the 21st Century., IEEE International Conference on
Conference_Location :
Vancouver, BC
Print_ISBN :
0-7803-2559-1
DOI :
10.1109/ICSMC.1995.538162
