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An optimal resolved rate law for kindematically 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 was found to cause large joint rates in some case. 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 nonplanar manipulators.
Document ID
19890000723
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
January 1, 1987
Publication Information
Publication: NASA, Goddard Space Flight Center, Proceedings of 1987 Goddard Conference on Space Applications of Artificial Intelligence (AI) and Robotics
Subject Category
Man/System Technology And Life Support
Accession Number
89N10094
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.

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