An alternative method for minimization of the driving forces in redundant manipulators

Kazerounian, Kazem; Nedungadi, A.

doi:10.1109/robot.1987.1087807

Cited by 10 publications

(14 citation statements)

References 7 publications

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“…As an additional benefit, this term can be devised so as to simplify the null-space vector in (32). For this, choose the torque τ N so as to oppose the generalized momentum …”

Section: Dynamically Consistent Redundancy Resolutionmentioning

confidence: 99%

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Discrete-time redundancy resolution at the velocity level with acceleration/torque optimization properties

Flacco

Luca

2015

Robotics and Autonomous Systems

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“…As an additional benefit, this term can be devised so as to simplify the null-space vector in (32). For this, choose the torque τ N so as to oppose the generalized momentum …”

Section: Dynamically Consistent Redundancy Resolutionmentioning

confidence: 99%

“…This is different from[32], where Coriolis and centrifugal terms were evaluated mixing previous and current velocities.…”

mentioning

confidence: 99%

Discrete-time redundancy resolution at the velocity level with acceleration/torque optimization properties

Flacco

Luca

2015

Robotics and Autonomous Systems

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“…Consideration of further terms yields various forms of approximations. Kazerounian and Nedungadi ( 1987) considered four terms of discretized approximations and expressed the approximations in the following reduced forms:…”

Section: The Practical Inverse Kinematics Problemmentioning

confidence: 99%

“…To resolve redundancy, joint velocities may be selected to achieve an objective secondary to the primary objective of moving the end effector with a desired translational and rotational velocity. The secondary objective may satisfy many supplementary criteria such as singularity avoidance (Mayorga and Wong 1987); obstacles avoidance (Baillieul 1987); limiting the range of joint variables (AbdelRahman 1987); providing greater dexterity (Klein 1985); placing the joint torques closest to the midpoint of joint torque limits (Vukobratovic and Kircanski 1984); minimization, in the least-squares sense, of kinetic energy and joint torques (Hollerbach and Suh 1987); minimizing actuator power (Vukobratovic and Kircanski 1984); maximizing response bandwidth (Egeland 1987); and minimizing norm of joint rates or accelerations (Kazerounian and Nedungadi 1987). The advantages gained from redundancy have encouraged an increasing amount of research in this field.…”

Section: Introductionmentioning

confidence: 99%

A Generalized Practical Method for Analytic Solution of the Constrained Inverse Kinematics Problem of Redundant Manipulators

Abdel-Rahman

1991

The International Journal of Robotics Research

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This article addresses four important issues relating to practical solutions of the inverse kinematics problem of redundant manipulators. First, a generalized recursive method for systematic derivation of analytic expressions for all possible solutions of any redundant manipulator is presented. The method possesses the advantage of identifying the linear dependence among joint axes and hence allows all singular configurations to be determined. Second, a joint constraint mapping approach for the integrated consideration of all joint constraints in the solution procedure of the inverse kinematics problem is presented. The result leads to practical real-time procedures. Mapping of the joint position and actuation constraints onto joint rate space is described. Third, simplification of endeffector velocity equations is shown to be possible for most practical manipulator structures by decomposing the end-effector work space into two orthogonal complement sub-work spaces. The decomposed velocity equations have smaller dimensions and, hence, are easier to solve.In manipulator design, structures can be selected for efficient kinematics manipulation and simplified end-effector velocity equations. To achieve this purpose, type-synthesis design guidelines are given for efficient decomposition or decoupling of the work space. Fourth, two general approaches are described for optimally resolving the kinematics redundancy. The first approach maximizes the endeffector speed in a prescribed direction, while the second approach minimizes a quadratic objective function defined by the user. Examples on work space decomposition and optimal solution of kinematic redundancy are given. In both cases, expressions for the general analytic solution are derived.

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“…In robotics, the emphasis is to accomplish a motion within constraints and optimize with respect to some criteria, i.e. time, torque, energy, and obstacles [9,23,27,28,31,40]. Bioengineers are curious to determine if human motion conforms to some optimality criterion, such as energy [8,14,46,47].…”

Section: Introductionmentioning

confidence: 99%

Strength guided motion

Lee

Wei

Zhao

et al. 1990

SIGGRAPH Comput. Graph.

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A methodology and algorithm are presented that generate motions imitating the way humans complete a lifting task under various loading conditions. The path taken depends on "natural" parameters: the figure geometry, the given load, the final destination, and, especially, the strength model of the agent. Additional user controllable parameters of the motion are the comfort of the action and the perceived exertion of the agent. The algorithm uses this information to incrementally compute a motion path of the end-effector moving the load. It is therefore instantaneously adaptable to changing force, loading, and strength conditions. Various strategies are used to model human behavior (such as reducing moment, pull back, add additional joints, and jerk) that compute the driving torques as the situation changes. The strength model dictates acceptable kinematic postures. The resulting algorithm offers torque control without the tedious user expression of driving forces under a dynamics model. The algorithm runs in near-realtime and offers an agent-dependent toolkit for fast path prediction. Examples are presented for various lifting tasks, including oneand two-handed lifts, and raising the body from a seated posture.

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An alternative method for minimization of the driving forces in redundant manipulators

Cited by 10 publications

References 7 publications

Discrete-time redundancy resolution at the velocity level with acceleration/torque optimization properties

Discrete-time redundancy resolution at the velocity level with acceleration/torque optimization properties

A Generalized Practical Method for Analytic Solution of the Constrained Inverse Kinematics Problem of Redundant Manipulators

Strength guided motion

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