Unified motion specification and control of kinematically redundant manipulators

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 4, Issue , 2000, Pages 3945-3951

  Park, Jonghoon ^a   Chung, Wankyun ^a   Youm, Youngil ^a  

^a Pohang University of Science and Technology (POSTECH)   (South Korea)

Author keywords

[No Author keywords available]

Indexed keywords

JACOBIAN MATRIX; KINEMATICALLY DECOUPLED JOINT SPACE DECOMPOSITION; REDUNDANT MANIPULATORS; UNIFIED MOTION SPECIFICATION;

CONTROL SYSTEM SYNTHESIS; DEGREES OF FREEDOM (MECHANICS); EQUATIONS OF MOTION; KINEMATICS; MATRIX ALGEBRA; MOTION CONTROL; UNIVERSAL JOINTS;

MANIPULATORS;

EID: 0033691402     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (21)

1. O. Khatib, "A unified approach for motion and force control of robot manipulators: The operational space formulation," IEEE lhnsactions on Robotics and Automation, vol. RA-3, no. 1, pp. 43-53, 1987.
2. P. Hsu, J. Hauser, and S. Sastry, "Dynamic control of redundant manipulators," Journal of Robotic Systems, vol. 6, no. 2, pp. 133-148, 1989.
3. S. Hirose and S. Ma, "Redundancy decomposition control for multi-joint manipulators," Proc. 1989 IEEE Int. Conf. on Robotics and Automation, 1989, pp. 119-124.
4. H. Seraji, "Configuration control of redundant manipulators: Theory and implementation," IEEE Transactions on Robotics and Automation, vol. 5, no. 4, pp. 472-490, 1989.
5. J. M. Hollerbach and K. C. Suh, "Redundancy resolution of manipulator through torque optimization," IEEE Transactions on Robotics and Automation, vol. RA-3, no. 4, pp. 308-316, 1987.
6. A. A. Maciejewski, "Kinetic limitations on the use of redundancy in robotic manipulators," IEEE Transactions on Robotics and Automation, vol. 7, no. 3, pp. 177-185, 1991.
7. Park, W. Chung, and Y. Youm, "Specification and control of motion for kinematically redundant manipulators," in Proc. 1995 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, 1995, vol. 3, pp. 89-94.
8. J. Park, W. Chung, and Y. Youm, " Weighted decomposition of kinematics and dynamics of kinematically redundant mahipulators," in Proc 1996 IEEE Int. Conf. on Robotics and Automation, 1996, pp. 480-486.
9. J. Park, W. Chung, and Y. Youm, "On dynamical decoupling of kinematically redundant manipulators," Proc. 1999 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, 1999, vol. 3, pp. 1495-1500.
10. Y. C. Chen and I. D. Walker, "A consistent null-space based approach to inverse kinematics of redundant robots," in Proc. 1993 IEEE Int. Conf. on Robotics and Automation, 1993, pp, 374-381.
11. J. Baillieul, "Kinematic programming alternative for redundant manipulators," in Proc. 1985 IEEE Int. Conf. on Robotics and Automation, 1985, pp. 722-728.
12. A. De Luca, "Zero dynamics in robotic systems," in Nonlinear Synthesis: Proc. of an IIASA Workshop, C. I. Byrnes and A. Kurzhansky, Eds. 1989, pp. 68-87, Birkhauser.
13. A. Isidori, Nonlinear Control Systems: An Introduction, Springer-Verlag, 2nd edition edition, 1989.
14. J. Park, Analysis and Control of Kinematically Redundant Manipulators: An Appnmch based on Kinematically Dewupled Joint Space Decomposition, Ph.D. thesis, Pohang University of Science and Technology (POSTECH), 1999.
15. S. Ma, "A balancing technique to stabilize local torque optimization solution of redundant manipulators," Journal of Robotic Systems, vol. 13, no. 3, pp. 177-185, 1996.
16. P. H. Chang and K. C. Park, "An extension to the operational space formulation for the kinematically redundant manipulator: Kinematics, dynamics, and control," in Proc. of the Int. Symp. on Industrial Robots, 1996, pp. 553-558.
17. A. Liegeois, "Automatic supervisory control of the configuration and behavior of multibody mechanisms," IEEE Transactions on Systems, Man, and Cybernetics, vol. SMC-7, no. 12, pp. 868-871, 1977.
18. B. Nemec and L. Zlajpah, "Implementation of force control on redundant robots." in Proc. 1998 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, 1998, pp. 1314-1319.
19. A. A. Maciejewski and C. A. Klein, "Obstacle avoidance for kinematically redundant manipulators in dynamically varying environments," International Journal of Robotics Research, vol. 4, no. 3, pp. 109-117, 1985.
20. Y. Nakamura, H. Hanafusa, and T. Yoshikawa, "Task-priority based redundancy control of robot manipulators," International Journal of Robotics Research, vol. 6, no. 2, pp. 3-15, 1987.
21. Y. Oh, Control of Redundant Manipulators for General Class of Task Execution: Design and Implementatron, Ph.D. thesis, Pohang University of Science and Technology (POSTECH), 1999.