Title :
Singular perturbations and the resolution of kinematic redundancy
Author :
Martin, D.P. ; Baillieul, J.
Author_Institution :
Dept. of Aerosp. & Mech. Eng., Boston Univ., MA, USA
Abstract :
Necessary conditions for pathwise optimal resolution of redundancy in robot manipulation kinematics are given in terms of boundary value problems. The true optimal solution must be selected from a family of mutually nonhomotopic locally optimal solutions. By means of careful singular perturbation analysis, it is shown that homotopy continuation may be used to simplify the calculation of optimal trajectories
Keywords :
boundary-value problems; kinematics; redundancy; robots; boundary value problems; kinematic redundancy; mutually nonhomotopic locally optimal solutions; optimal trajectories; pathwise optimal resolution; robot manipulation; singular perturbation analysis; Aerospace engineering; Boundary conditions; Equations; Jacobian matrices; Kinematics; Manipulators; Mechanical engineering; Null space; Path planning; Robots;
Conference_Titel :
Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on
Conference_Location :
Sacramento, CA
Print_ISBN :
0-8186-2163-X
DOI :
10.1109/ROBOT.1991.131951
