The resolved rate law for a manipulator provides the instantaneous joint rates required to satisfy a given instantaneous hand motion. When the joint space has more degrees of freedom than the task space, the manipulator is kinematically redundant and the kinematic rate equations are underdetermined. These equations can be locally optimized, but the resulting pseudo-inverse solution has been found to cause large joint rates in some cases. A weighting matrix in the locally optimized (pseudo-inverse) solution is dynamically adjusted to control the joint motion as desired. Joint reach limit avoidance is demonstrated in a kinematically redundant planar arm model. The treatment is applicable to redundant manipulators with any number of revolute joints and to non-planar manipulators.


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    Title :

    An optimal resolved rate law for kinematically redundant manipulators


    Contributors:


    Publication date :

    1987-10-01


    Type of media :

    Conference paper


    Type of material :

    No indication


    Language :

    English








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    Maciejewski, A. A. / Lewis, C. L. / American Institute of Aeronautics and Astronautics et al. | British Library Conference Proceedings | 1994