Journal ArticleDOI
Repeatability of redundant manipulators: mathematical solution of the problem
T. Shamir,Yosef Yomdin +1 more
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In this paper, the authors consider a redundant manipulator whose hand is to trace a path in its workspace and determine a priori whether a given local control strategy guarantees repeatability or not.Abstract:
Consider a redundant manipulator whose hand is to trace a path in its workspace. A local control strategy that governs the manipulator is a law that assigns an infinitesimal change in the joint angles so that the hand will move infinitesimally in the direction designated by the path. Because of the redundancy, there can be many such control strategies. For some strategies it turns out that when the hand returns to its initial position, the joint angles do not always return to their initial values. To determine a priori whether a given local control strategy guarantees repeatability or not, it is necessary to deduce its global properties as well as its local properties. This is achieved by considering integral surfaces for a distribution in the joint space. This yields a necessary and sufficient condition, in terms of Lie brackets, for a control to be repeatable. >read more
Citations
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Computations underlying the execution of movement: a biological perspective
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Kinematic control of redundant robot manipulators: A tutorial
TL;DR: A tentatively comprehensive tutorial report of the most recent literature on kinematic control of redundant robot manipulators lends some perspective to the most widely adopted on-line instantaneous control solutions, namely those based on the simple manipulator's Jacobian.
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Kinematically optimal hyper-redundant manipulator configurations
TL;DR: This paper develops new methods for determining "optimal" hyper-redundant manipulator configurations based on a continuum formulation of kinematics that is computationally efficient on a single processor, and generates solutions in O(1) time for an N degree-of-freedom manipulator when implemented in parallel on O(N) processors.
References
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Journal ArticleDOI
Review of pseudoinverse control for use with kinematically redundant manipulators
Charles A. Klein,C.-H. Huang +1 more
TL;DR: Kinematically redundant manipulators have a number of potential advantages over current manipulator designs and velocity control through pseudoinverses is suggested for this type of arm.
Journal ArticleDOI
Redundancy resolution of manipulators through torque optimization
John M. Hollerbach,Ki Suh +1 more
TL;DR: Methods for resolving kinematic redundancies of manipulators by the effect on joint torque are examined, and a whiplash action develops over time that thrusts the endpoint off the intended path, and extremely high torques are required to overcome these natural movement dynamics.
Proceedings ArticleDOI
Kinematic programming alternatives for redundant manipulators
TL;DR: It is argued that because this technique may be expected to lift closed end effector paths to closed joint angle paths, it provides a promising approach for the control of kinematically redundant industrial manipulators.
Book ChapterDOI
Robotic manipulators and the product of exponentials formula
TL;DR: The kinematics of such processes and the classification of kinematic chains using ideas from algebra and group theory are discussed and an interesting and rather general problem in Galois theory which is directly related to manipulation is suggested.
Proceedings ArticleDOI
Avoiding obstacles and resolving kinematic redundancy
TL;DR: The extended Jacobian technique is used to implement an obstacle avoidance technique based on optimizing a distance criterion and the feasibility of applying multiple constraints or optimality criteria for resolving redundancy is investigated.
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Review of pseudoinverse control for use with kinematically redundant manipulators
Charles A. Klein,C.-H. Huang +1 more