DocumentCode :
314430
Title :
A modular approach to redundant robot control
Author :
Anderson, Robert J.
Author_Institution :
Sandia Nat. Labs., Albuquerque, NM, USA
Volume :
2
fYear :
1997
fDate :
20-25 Apr 1997
Firstpage :
1060
Abstract :
This paper describes a modular approach for computing redundant robot kinematics. First some conventional redundant control methods are presented and shown to be “passive control laws”, i.e. they can be represented by a network consisting of passive elements. These networks are then put into modular form by applying scattering operator techniques. Additional subnetwork modules can then be added to further shape the motion. Modules for obstacle detection, joint limit avoidance, proximity sensing, and for imposing nonlinear velocity constraints are presented. The resulting redundant robot control system is modular, flexible and robust
Keywords :
Jacobian matrices; least squares approximations; redundancy; robot kinematics; robust control; joint limit avoidance; nonlinear velocity constraints; obstacle detection; passive control laws; proximity sensing; redundant robot control; scattering operator techniques; subnetwork modules; Ear; Equations; Inspection; Intelligent robots; Jacobian matrices; Least squares methods; Light scattering; Robot control; Robot kinematics; Robot sensing systems;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on
Conference_Location :
Albuquerque, NM
Print_ISBN :
0-7803-3612-7
Type :
conf
DOI :
10.1109/ROBOT.1997.614275
Filename :
614275
Link To Document :
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