Dynamic Control of Kinematically Redundant Robotic Manipulators
نویسندگان
چکیده
منابع مشابه
On the implementation of velocity control for kinematically redundant manipulators
The velocity control of kinematically redundant manipulators has been addressed through a variety of approaches. Though they differ widely in their purpose and method of implementation, most are optimizations that can be characterized by Liégeois’s method. This characterization is used in this article to develop a single framework for implementing different methods by simply selecting a scalar,...
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This work considers real-time fault-tolerant control of kinematically redundant manipulators to single locked-joint failures. The fault-tolerance measure used is a worst-case quantity, given by the minimum, over all single joint failures, of the minimum singular value of the post-failure Jacobians. Given any end-effector trajectory, the goal is to continuously follow this trajectory with the ma...
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One of the key problems in motor control concerns the apparent redundancy of muscles and joints. This biological and kinematic redundancy has been an object of study since long. In this paper we will give a review of the various approaches which have been proposed to solve this problem. We will give a comparison of the results of these approaches with special emphasis on recent models, which tr...
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| A kinematically redundant manipulator is a robotic system that has more than the minimum number of degrees of freedom that are required for a speciied task. Due to this additional freedom, control strategies may yield solutions which are not repeat-able in the sense that the manipulator may not return to its initial joint connguration for closed end-eeector paths. This paper compares two meth...
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The high cost involved in the retrieval and repair of robotic manipulators used for remediating nuclear waste, processing hazardous chemicals, or for exploring space or the deep sea, places a premium on the reliability of the system as a whole. For such applications, kinematically redundant manipulators are inherently more reliable since the additional degrees of freedom (DOF) may compensate fo...
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ژورنال
عنوان ژورنال: Modeling, Identification and Control: A Norwegian Research Bulletin
سال: 1987
ISSN: 0332-7353,1890-1328
DOI: 10.4173/mic.1987.3.4