Analysis and Control of Robot Manipulators with Kinematic Redundancy
A closed-form solution formula for the kinematic control of manipulators with redundancy is derived, using the Lagrangian multiplier method. Differential relationship equivalent to the Resolved Motion Method has been also derived. The proposed method is proved to provide with the exact equilib...
| Main Author: | |
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| Language: | en_US |
| Published: |
2004
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| Online Access: | http://hdl.handle.net/1721.1/6966 |
| _version_ | 1826206799199469568 |
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| author | Chang, Pyung H. |
| author_facet | Chang, Pyung H. |
| author_sort | Chang, Pyung H. |
| collection | MIT |
| description | A closed-form solution formula for the kinematic control of manipulators with redundancy is derived, using the Lagrangian multiplier method. Differential relationship equivalent to the Resolved Motion Method has been also derived. The proposed method is proved to provide with the exact equilibrium state for the Resolved Motion Method. This exactness in the proposed method fixes the repeatability problem in the Resolved Motion Method, and establishes a fixed transformation from workspace to the joint space. Also the method, owing to the exactness, is demonstrated to give more accurate trajectories than the Resolved Motion Method. In addition, a new performance measure for redundancy control has been developed. This measure, if used with kinematic control methods, helps achieve dexterous movements including singularity avoidance. Compared to other measures such as the manipulability measure and the condition number, this measure tends to give superior performances in terms of preserving the repeatability property and providing with smoother joint velocity trajectories. Using the fixed transformation property, Taylor's Bounded Deviation Paths Algorithm has been extended to the redundant manipulators. |
| first_indexed | 2024-09-23T13:38:43Z |
| id | mit-1721.1/6966 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T13:38:43Z |
| publishDate | 2004 |
| record_format | dspace |
| spelling | mit-1721.1/69662019-04-12T08:33:41Z Analysis and Control of Robot Manipulators with Kinematic Redundancy Chang, Pyung H. A closed-form solution formula for the kinematic control of manipulators with redundancy is derived, using the Lagrangian multiplier method. Differential relationship equivalent to the Resolved Motion Method has been also derived. The proposed method is proved to provide with the exact equilibrium state for the Resolved Motion Method. This exactness in the proposed method fixes the repeatability problem in the Resolved Motion Method, and establishes a fixed transformation from workspace to the joint space. Also the method, owing to the exactness, is demonstrated to give more accurate trajectories than the Resolved Motion Method. In addition, a new performance measure for redundancy control has been developed. This measure, if used with kinematic control methods, helps achieve dexterous movements including singularity avoidance. Compared to other measures such as the manipulability measure and the condition number, this measure tends to give superior performances in terms of preserving the repeatability property and providing with smoother joint velocity trajectories. Using the fixed transformation property, Taylor's Bounded Deviation Paths Algorithm has been extended to the redundant manipulators. 2004-10-20T20:11:16Z 2004-10-20T20:11:16Z 1987-05-01 AITR-1022 http://hdl.handle.net/1721.1/6966 en_US AITR-1022 11492790 bytes 4402720 bytes application/postscript application/pdf application/postscript application/pdf |
| spellingShingle | Chang, Pyung H. Analysis and Control of Robot Manipulators with Kinematic Redundancy |
| title | Analysis and Control of Robot Manipulators with Kinematic Redundancy |
| title_full | Analysis and Control of Robot Manipulators with Kinematic Redundancy |
| title_fullStr | Analysis and Control of Robot Manipulators with Kinematic Redundancy |
| title_full_unstemmed | Analysis and Control of Robot Manipulators with Kinematic Redundancy |
| title_short | Analysis and Control of Robot Manipulators with Kinematic Redundancy |
| title_sort | analysis and control of robot manipulators with kinematic redundancy |
| url | http://hdl.handle.net/1721.1/6966 |
| work_keys_str_mv | AT changpyungh analysisandcontrolofrobotmanipulatorswithkinematicredundancy |