DocumentCode
3522871
Title
Dynamics and control for redundant robots
Author
Gu, You-Liang
Author_Institution
Sch. of Eng. & Comput. Sci., Oakland Univ., Rochester, MI, USA
fYear
1988
fDate
24-29 Apr 1988
Firstpage
194
Abstract
A unified formulation of kinematic equation and its general solution for both conventional and redundant robots is presented. It provides the dynamics and control analysis of redundant robots. Through this formulation, the dynamic modeling problem in robotic system with redundancy as well as the control strategies by utilizing several advanced control schemes are developed. The theoretical results show that a redundant robot has many advantages, but it may be more difficult to deal with than a nonredundant conventional counterpart. Explicit formulas in dynamics and control for redundant robots are outlined
Keywords
control system analysis; dynamics; kinematics; redundancy; robots; dynamics; kinematic; redundancy; redundant robots; Computer science; Control design; Control system synthesis; Equations; Jacobian matrices; Kinematics; Null space; Orbital robotics; Robot control; Robot sensing systems;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on
Conference_Location
Philadelphia, PA
Print_ISBN
0-8186-0852-8
Type
conf
DOI
10.1109/ROBOT.1988.12047
Filename
12047
Link To Document