Task-Priority Based Redundancy Control of Robot Manipulators

International Journal of Robotics Research - Tập 6 Số 2 - Trang 3-15 - 1987
Yoshihiko Nakamura1, Hideo Hanafusa1, Tsuneo Yoshikawa1
1Automation Research Laboratory, Kyoto University, Uji, Kyoto 611, Japan

Tóm tắt

In this paper, we describe a new scheme for redundancy control of robot manipulators. We introduce the concept of task priority in relation to the inverse kinematic problem of redundant robot manipulators. A required task is divided into subtasks according to the order of priority. We propose to determine the joint motions of robot manipulators so that subtasks with lower priority can be performed utilizing re dundancy on subtasks with higher priority. This procedure is formulated using the pseudoinverses of Jacobian matrices. Most problems of redundancy utilization can be formulated in the framework of tasks with the order of priority. The results of numerical simulations and experiments show the effectiveness of the proposed redundancy control scheme.

Từ khóa


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Thông tin
Thông tin xuất bản

International Journal of Robotics Research

Tập 6 Số 2

3-15

Thông tin tác giả