Characterization of instability of dynamic control for kinematically redundant manipulators

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 3, Issue , 2002, Pages 2400-2405

  Park, Jonghoon ^a   Chung, Wan Kyun ^a   Youm, Youngil ^a  

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

Author keywords

[No Author keywords available]

Indexed keywords

ACCELERATION; KINEMATICS; TORQUE CONTROL; VECTORS; VELOCITY;

DYNAMIC CONTROL; NONLINEAR NULL DYNAMICS; SELF-MOTION; TORQUE INSTABILITY;

REDUNDANT MANIPULATORS;

EID: 0036058544     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (19)

1. Redundancy resolution of manipulator through torque optimization
2. Improving local torque optimization techniques for redundant robotic mechanisms
3. J-minor based dynamic control (jmdc) for kinematically redundant manipulators
4. Null space damping method for local joint torque optimization of redundant manipulators
5. Torque optimization schemes for kinematically redundant manipulators
6. Local optimization of weighted joint torque for redundant manipulators
7. Instability of pseudoinverse acceleration control of redundant mechanisms
8. Kinetic limitations on the use of redundancy in robotic manipulators
9. Divergence of linear acceleration-based redundancy resolution schemes
10. Zero dynamics in robotic systems
11. Stabilization of self-motions in redundant robots
12. Specification and control of motion for kinematically redundant manipulators
13. Weighted decomposition of kinematics and dynamics of kinematically redundant manipulators
14. Unified motion specification and control of kinematically redundant manipulators
15. Global versus local optimization in redundancy resolution of robotic manipulators
16. A local solution with global characteristics for the joint torque optimization of a redundant manipulators
17. Obstacle avoidance for kinematically redundant manipulators in dynamically varying environments
18. Task-priority based redundancy control of robot manipulators
19. Multiple task kinematics using weighted pseudoinverse for kinematically redundant manipulators