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Numerical Stability of the Extended Task space Method of Kinematically Redundant Manipulators(PDF)

《南京理工大学学报》(自然科学版)[ISSN:1005-9830/CN:32-1397/N]

Issue:
1998年02期
Page:
37-40
Research Field:
Publishing date:

Info

Title:
Numerical Stability of the Extended Task space Method of Kinematically Redundant Manipulators
Author(s):
WuRuimin BiZhuming LiuTingrong ① ZhangYouliang
School of Manufacturing Engineering,NUST,Nanjing 210094)
Keywords:
inv erse kinematics kinemat ically redundancy robot extended-task metho d stability
PACS:
TP242.202.1
DOI:
-
Abstract:
T he alg orithm stability o f the ex tended-task method for kinemat ically redundant manipulato rs, w hich is of ten ut ilized to obtain redundancy resolut io ns, is discussed in the paper . Based on the balanced scale factor pro posed, a new mo dified extended- task method is established, w hich is suitable for all kinds of perfo rmance indices, and it is of high numer ical stability . In the end, a numerical ex ample is g iven to verify the feasibility of the method above ment ioned.

References:

1  Jo hn Baillieul. Av oiding o bst acles a nd r esolving kinem atic r edundancy , In: Paul, Luh.Pro c. IEEE I nt . Conf. Robo t. Automat. San Fr ancisco , Califo rnia : MIT Press, 1986.1698~1704
2  Jo hn Baillieul, Mar tin D P. Reso lut ion of kinematic r edundancy . Applied Mat hema tics1990, 41( 2) : 78~95
3 Olav Eg eland. T ask-space tr acking w it h redundant manipulato r s. IEEE Tr ans. RA. 1987, 3( 5) : 471~475
4 Sciav icco, Siciliano B. T he augmented t ask space appro ach for redundant manipulator co ntrol, In: Br ady . IFAC Ro bo t Contr ol. Kar lsr uhe, FRG: Academic, 1988, 125~129
5 Nakamur a, Ha nafusa H, Yoshikaw a T. Task-pr or ity based r edundancy contr ol o f r obot manipulator s. Int J. Ro bot Res. 1987, 6( 2) : 3~15
6 吴瑞珉. 冗余度机器人操作机设计及运动学逆解算法的研究: [ 博士学位论文] , 哈尔滨工业大学, 1996

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Last Update: 2013-03-29