Efficient gradient projection optimization for manipulators with multiple degrees of redundancy
- 4 December 2002
- proceedings article
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 1006-1011
- https://doi.org/10.1109/robot.1990.126123
Abstract
An efficient gradient projection optimization scheme is pre- sented for manipulators with multiple degrees of redundancy. This is an extension of the gradient projection scheme presented by Dubey et al. (l) for manipulators with one degree of re- dundancy. Feasibility and effectiveness of this scheme is tested through simulations of the seven-degree-of-freedom NASA Lab- oratory Telerobotic Manipulator (LTM). Only the position of the LTM end-effector is controlled, which requires only three degrees of freedom. Remaining joints, escept for the wrist roll joint, which does not contribute to the end-effector linear veloc- ity, provide three degrees of redundacy.Keywords
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