Improved configuration control for redundant robots

Wiley - Tập 7 Số 6 - Trang 897-928 - 1990
H. Seraji1,2, R. Colbaugh3
14800 Oak Grove Drive, Pasadena, CA 91109
2Jet Propulsion Laboratory, California Institute of Technology
3Department of Mechanical Engineering, New Mexico State University, Las Cruces, NM 88001

Tóm tắt

AbstractThis article presents a singularity‐robust task‐prioritized reformulation of the configuration control scheme for redundant robot manipulators. This reformulation suppresses large joint velocities near singularities, at the expense of small task trajectory errors. This is achieved by optimally reducing the joint velocities to induce minimal errors in the task performance by modifying the task trajectories. Furthermore, the same framework provides a means for assignment of priorities between the basic task of end‐effector motion and the user‐defined additional task for utilizing redundancy. This allows automatic relaxation of the additional task constraints in favor of the desired end‐effector motion, when both cannot be achieved exactly. The improved configuration control scheme is illustrated for a variety of additional tasks, and extensive simulation results are presented.

Từ khóa


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Wiley

Tập 7 Số 6

897-928

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