DocumentCode
3402328
Title
On dynamical decoupling of kinematically redundant manipulators
Author
Park, Jonghoon ; Chung, Wankyun ; Youm, Youngil
Author_Institution
Dept. of Mech. Eng., Pohang Inst. of Sci. & Technol., South Korea
Volume
3
fYear
1999
fDate
1999
Firstpage
1495
Abstract
The kinematically decoupled joint space decomposition is proposed as a general coordinate transformation between the joint space and the task space of kinematically redundant manipulators. The method can describe the kinematic, force, and dynamic redundancy in a unified way using a minimal number of systematic motion variables. Based on the method, a set of equivalent dynamical models of redundant manipulators is constructed and its characteristics are studied focusing on the dynamical decoupling between the task and the null motion dynamics
Keywords
geometry; manipulator dynamics; matrix algebra; redundant manipulators; dynamic redundancy; dynamical decoupling; force redundancy; joint space decomposition; kinematically redundant manipulators; null motion dynamics; task space; Algorithm design and analysis; Equations; Extraterrestrial measurements; Jacobian matrices; Manipulator dynamics; Mechanical engineering; Orbital robotics; Robot kinematics; Torque; Transforms;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 1999. IROS '99. Proceedings. 1999 IEEE/RSJ International Conference on
Conference_Location
Kyongju
Print_ISBN
0-7803-5184-3
Type
conf
DOI
10.1109/IROS.1999.811690
Filename
811690
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