Title :
Dynamics and control for redundant robots
Author_Institution :
Sch. of Eng. & Comput. Sci., Oakland Univ., Rochester, MI, USA
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;
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.1988.12047
