Title :
Dynamic control of redundant manipulators
Author :
Hsu, Ping ; Hauser, John ; Sastry, Shankar
Author_Institution :
Dept. of Electr. Eng. & Comput. Sci., California Univ., Berkeley, CA, USA
Abstract :
The authors provide a dynamic control law that guarantees the tracking of a given end-effector trajectory and also provides for the control of the redundant joint velocity. The desired redundant joint velocity can then be specified to optimize a cost function over the configurations allowed by the extra degrees of freedom that achieve the given end-effector position
Keywords :
dynamics; position control; robots; cost function; dynamic control; end-effector trajectory; position control; redundant joint velocity; redundant manipulators; robots; tracking; Cities and towns; Cost function; End effectors; Jacobian matrices; Laboratories; Manipulator dynamics; Null space; Sampling methods; Trajectory; Velocity control;
Conference_Titel :
Robotics and Automation, 1988. Proceedings., 1988 IEEE International Conference on
Conference_Location :
Philadelphia, PA
Print_ISBN :
0-8186-0852-8
DOI :
10.1109/ROBOT.1988.12045
