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Kinematically redundant robot manipulatorsResearch on control, design and programming of kinematically redundant robot manipulators (KRRM) is discussed. These are devices in which there are more joint space degrees of freedom than are required to achieve every position and orientation of the end-effector necessary for a given task in a given workspace. The technological developments described here deal with: kinematic programming techniques for automatically generating joint-space trajectories to execute prescribed tasks; control of redundant manipulators to optimize dynamic criteria (e.g., applications of forces and moments at the end-effector that optimally distribute the loading of actuators); and design of KRRMs to optimize functionality in congested work environments or to achieve other goals unattainable with non-redundant manipulators. Kinematic programming techniques are discussed, which show that some pseudo-inverse techniques that have been proposed for redundant manipulator control fail to achieve the goals of avoiding kinematic singularities and also generating closed joint-space paths corresponding to close paths of the end effector in the workspace. The extended Jacobian is proposed as an alternative to pseudo-inverse techniques.
Document ID
19890017149
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Baillieul, J. (Boston Univ. MA., United States)
Hollerbach, J. (Massachusetts Inst. of Tech. Cambridge., United States)
Brockett, R. (Harvard Univ. Cambridge, MA., United States)
Martin, D. (Scientific Systems, Inc., Cambridge MA., United States)
Percy, R. (Scientific Systems, Inc., Cambridge MA., United States)
Thomas, R. (Scientific Systems, Inc. Cambridge, MA, United States)
Date Acquired
September 6, 2013
Publication Date
July 1, 1987
Publication Information
Publication: Jet Propulsion Lab., California Inst. of Tech., Proceedings of the Workshop on Space Telerobotics, Volume 2
Subject Category
Mechanical Engineering
Accession Number
89N26520
Funding Number(s)
CONTRACT_GRANT: F33615-84-C-5131
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.

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