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An optimal resolved rate law for kinematically redundant manipulatorsThe 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.
Document ID
19880007884
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Bourgeois, B. J. (McDonnell-Douglas Astronautics Co. Houston, TX, United States)
Date Acquired
September 5, 2013
Publication Date
October 1, 1987
Publication Information
Publication: NASA. Lyndon B. Johnson Space Center, Houston, Texas, First Annual Workshop on Space Operations Automation and Robotics (SOAR 87)
Subject Category
Mechanical Engineering
Accession Number
88N17268
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.

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