An overview on the global behavior of kinematically redundant robotic manipulators

19 November 2002

conference paper
Published by Institute of Electrical and Electronics Engineers (IEEE)

p. 2.3.1/1-2.3.1/6
https://doi.org/10.1109/eeis.1995.513800

Abstract

Most methods for controlling redundant manipulators are based on local or instantaneous solutions of the kinematic velocity equation, for a given hand-space path or displacement. However, the global, behavior needs to be determined a-priori to avoid unexpected problems like non-repeatability, instability and so on. Global motion planning must pertain not only to the motion of the end-effector but to the whole arm. The mathematical model of redundancy control that we have developed, is based on analyzing certain structures or skeletons of surfaces in the joint space. The advantages of this approach are twofold. For one, it helps explain certain behavior patterns that are induced by given control strategies, while taking into account the geometry of the robot itself. But more important is the fact that it helps devise "better" strategies with which to control the robot and plan its motions.

Keywords

This publication has 11 references indexed in Scilit:

The Lie bracket condition as a test of stable, drift-free pseudoinverse trajectories
IEEE Transactions on Robotics and Automation, 1993
Geometry and Prediction of Drift-Free Trajectories for Redundant Machines Under Pseudoinverse Control
The International Journal of Robotics Research, 1992
Control of redundant robots on cyclic trajectories
Published by Institute of Electrical and Electronics Engineers (IEEE) ,1992
Remarks on some dynamical problems of controlling redundant manipulators
IEEE Transactions on Automatic Control, 1990
The Singularities of Redundant Robot Arms
The International Journal of Robotics Research, 1990
The nature of drift in pseudoinverse control of kinematically redundant manipulators
IEEE Transactions on Robotics and Automation, 1989
Repeatability of redundant manipulators: mathematical solution of the problem
IEEE Transactions on Automatic Control, 1988
Avoiding obstacles and resolving kinematic redundancy
Published by Institute of Electrical and Electronics Engineers (IEEE) ,1986
Obstacle Avoidance for Kinematically Redundant Manipulators in Dynamically Varying Environments
The International Journal of Robotics Research, 1985
Review of pseudoinverse control for use with kinematically redundant manipulators
IEEE Transactions on Systems, Man, and Cybernetics, 1983