Acceleration-level analysis on velocity-based motion control of kinematically redundant manipulators

IEEE International Conference on Intelligent Robots and Systems

Volumn 1, Issue , 2001, Pages 165-170

  Watanabe, Yasuyuki ^a  

^a JAPAN AEROSPACE EXPLORATION AGENCY   (Japan)

Author keywords

[No Author keywords available]

Indexed keywords

ACCELERATION; DEGREES OF FREEDOM (MECHANICS); END EFFECTORS; KINEMATICS; MATHEMATICAL MODELS; MOTION CONTROL; OPTIMIZATION; REDUNDANCY; TORQUE; UNIVERSAL JOINTS; VECTORS; VELOCITY;

ACCELERATION LEVEL ANALYSIS; COMPUTATIONAL AUGMENTATION; END MOTION JOINT VELOCITY; JOINT DISPLACEMENT VECTOR; KINEMATIC EQUATION; TASK PRIORITY BASED CONTROL;

REDUNDANT MANIPULATORS;

EID: 0035560351     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (13)

1. Dynamic control of redundant manipulators using full row-rank minors of Jacobian
2. Instability of pseudoinverse acceleration control of redundant mechanisms
3. Redundancy resolution of manipulators through torque optimization
4. Redundancy resolution of robotic manipulators at the acceleration level
5. Kinetic limitations on the use of redundancy in robotic manipulators
6. Dynamic redundancy resolution of redundant manipulators with local optimization of a kinematic criterion
7. Local torque minimization of redundant manipulators with considering end-motion joint velocities
8. Global versus local optimization in redundancy resolution of robotic manipulators
9. A general framework for managing multiple tasks in highly redundant robotic systems
10. Torque optimization schemes for kinematically redundant manipulators
11. Task-priority based redundancy control of robot manipulators
12. Singularity-robust task-priority redundancy resolution for real-time kinematic control of robot manipulators