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
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;
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
DOI :
10.1109/IROS.1999.811690
