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Kinematic control of robot with degenerate wristKinematic resolved rate equations allow an operator with visual feedback to dynamically control a robot hand. When the robot wrist is degenerate, the computed joint angle rates exceed operational limits, and unwanted hand movements can result. The generalized matrix inverse solution can also produce unwanted responses. A method is introduced to control the robot hand in the region of the degenerate robot wrist. The method uses a coordinated movement of the first and third joints of the robot wrist to locate the second wrist joint axis for movement of the robot hand in the commanded direction. The method does not entail infinite joint angle rates.
Document ID
19840020470
Acquisition Source
Legacy CDMS
Document Type
Technical Publication (TP)
Authors
Barker, L. K. (NASA Langley Research Center Hampton, VA, United States)
Moore, M. C. (NASA Langley Research Center Hampton, VA, United States)
Date Acquired
September 4, 2013
Publication Date
July 1, 1984
Subject Category
Cybernetics
Report/Patent Number
NASA-TP-2341
NAS 1.60:2341
L-15743
Accession Number
84N28539
Funding Number(s)
PROJECT: RTOP 506-54-63-01
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.

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