A realistic joint limit algorithm for kinematically redundant manipulators

ICCAS 2007 - International Conference on Control, Automation and Systems

Volumn , Issue , 2007, Pages 47-50

  Lee, Ho Yul ^a   Yi, Byung Ju ^a   Choi, Yungjin ^a  

^a Hanyang University   (South Korea)

Author keywords

Joint limit; Kinematically redundant manipulator; Self motion

Indexed keywords

KINEMATICS; MANIPULATORS; QUALITY ASSURANCE; REDUNDANCY; RELIABILITY;

JOINT ANGLES; JOINT LIMIT; KINEMATIC REDUNDANCIES; KINEMATICALLY REDUNDANT MANIPULATOR; MOTION RANGES; SELF-MOTION;

REDUNDANT MANIPULATORS;

EID: 48349125475     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICCAS.2007.4406877     Document Type: Conference Paper

References (3)

1. Ligeois, A., "Automatic Supervisory Control of the Configuration and Behavior of Multibody Mechanisms," IEEE Transactions Systems, Man, and Cybernetics, Vol. 7, No. 12, pp. 868-871, 1977.
2. Chan, T.F. and Dubey, R.V., "A Weighted Least-Norm Solution Based Scheme for Avoiding Joint Limits for Redundant Joint Manipulators," IEEE Transactions on Robotics and Automation, Vol. 11, No. 2, April 1995.
3. Luck, C.L. and Lee, S., "Self-motion Topology for Redundant Manipulators with Joint Limits," Proc. IEEE International Conference on Robotics and Automation, pp. 626-631, Atlanta, 1999.