Title :
Zero dynamics in kinematically redundant robots
Author :
Varghese, Matthew ; Fuchs, Andreas ; Mukundan, Rangaswamy
Abstract :
The integration of the control of kinematically redundant robots and feedback linearization is discussed. Cases of feedback linearization are analyzed when the decoupling matrix is nonsquare-in particular, when there is less output than input such as in the case of redundant kinematics in robots. An application to a two-link planar robot is discussed. An example which illustrates the zero dynamics that are obtained for a particular example is given
Keywords :
feedback; kinematics; linearisation techniques; redundancy; robots; decoupling matrix; feedback linearization; kinematically redundant robots; two-link planar robot; zero dynamics;
Conference_Titel :
Systems Engineering, 1990., IEEE International Conference on
Conference_Location :
Pittsburgh, PA, USA
Print_ISBN :
0-7803-0173-0
DOI :
10.1109/ICSYSE.1990.203100
