Title :
Combined method of weighted least norm and gradient projection for avoiding joint limit
Author :
Park, Seong Sik ; Chung, Wan Kyun
Author_Institution :
Dept. of Mech. Eng., POSTECH, Pohang, South Korea
Abstract :
This paper proposes the combined method of weighted least norm (WLN) and gradient projection (GP) for avoiding joint limit. WLN has the limitation of lower manipulability. Also GP has lack of reliability. Taking the advantages of both methods, we combined two methods and also performed numerical simulation. The simulation result shows the advantages of both methods.
Keywords :
Jacobian matrices; gradient methods; manipulator kinematics; motion control; Jacobian matrix; gradient projection; inverse kinematics problem; joint limit avoidance; manipulator; numerical simulation; resolved motion rate control; weighted least norm; Joints; Kinematics; Manipulators; Numerical simulation; Reliability; Simulation; Vectors; Joint limit avoidance;
Conference_Titel :
Ubiquitous Robots and Ambient Intelligence (URAI), 2011 8th International Conference on
Conference_Location :
Incheon
Print_ISBN :
978-1-4577-0722-3
DOI :
10.1109/URAI.2011.6146022
