Unified motion specification and control of kinematically redundant manipulators

The kinematically decoupled joint space decomposition (KD-JSD) is proposed as a systematic method for synthesis of dynamic control of kinematically redundant manipulators. The method leads to a proper control for direct specification and control of the self-motion of kinematically redundant manipula...

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Published inProceedings - IEEE International Conference on Robotics and Automation Vol. 4; pp. 3945 - 3951 vol.4
Main Authors Park, Jonghoon, Chung, Wankyun, Youm, Youngil
Format Conference Proceeding Journal Article
LanguageEnglish
Published IEEE 2000
Subjects
Acceleration
Equations
Jacobian matrices
Manipulator dynamics
Mechanical engineering
Motion control
Orbital robotics
Robots
Space technology
Transmission line matrix methods
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Summary:The kinematically decoupled joint space decomposition (KD-JSD) is proposed as a systematic method for synthesis of dynamic control of kinematically redundant manipulators. The method leads to a proper control for direct specification and control of the self-motion of kinematically redundant manipulators, as well as the task motion. To cover various possibilities in specifying desired self-motion behaviors the conventional gradient projection method and task priority based method are reformulated within the framework of the KD-JSD. The validity of the proposed control method is shown experimentally adopting a three degrees-of-freedom direct-drive planar redundant manipulator.
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ISBN:9780780358867
0780358864
ISSN:1050-4729
2577-087X
DOI:10.1109/ROBOT.2000.845346