Redundancy resolution of manipulators through torque optimization

Hollerbach, John M.; Suh, Kahp Y.

doi:10.1109/robot.1985.1087285

Cited by 206 publications

(143 citation statements)

References 14 publications

(10 reference statements)

Supporting

Mentioning

141

Contrasting

Unclassified

Order By: Relevance

“…Therefore, the combination of these tasks into a single large task is not always practical and, instead, the tasks need prioritization, e.g., the higher the number of the task, the higher its priority. Task prioritized control solutions have been discussed in the literature (Nakamura et al 1987;Hollerbach and Suh 1987;Maciejewski and Klein 1985;Hanafusa et al 1981;Yamane and Nakamura 2003;Sentis and Khatib 2004;Siciliano and Slotine 1991;Khatib et al 2004;Sentis and Khatib 2005). Most previous approaches were kinematic and discussed only a small, fixed number of tasks; to our knowledge, Khatib 2004, 2005) were among the first to discuss arbitrary task numbers and dynamical decoupling, i.e., a different metric from our point of view.…”

Section: Hierarchical Extensionmentioning

confidence: 99%

A unifying framework for robot control with redundant DOFs

et al. 2007

View full text Add to dashboard Cite

Recently, Udwadia (Proc. R. Soc. Lond. A 2003Lond. A :1783Lond. A -1800Lond. A , 2003 suggested to derive tracking controllers for mechanical systems with redundant degrees-offreedom (DOFs) using a generalization of Gauss' principle of least constraint. This method allows reformulating control problems as a special class of optimal controllers. In this paper, we take this line of reasoning one step further and demonstrate that several well-known and also novel nonlinear robot control laws can be derived from this generic methodology. We show experimental verifications on a Sarcos Master Arm robot for some of the derived controllers. The suggested approach offers a promising unification and simplification of nonlinear control law design for robots obeying rigid body dynamics equations, both with or without external constraints, with over-actuation or underactuation, as well as open-chain and closed-chain kinematics.

show abstract

Section: Hierarchical Extensionmentioning

confidence: 99%

A unifying framework for robot control with redundant DOFs

et al. 2007

View full text Add to dashboard Cite

show abstract

“…4. For redundant manipulators, J is not square, but both the Newton-Raphson and differential-equations-based approaches can be extended to redundant manipulators using J + , the pseudo-inverse [9], or the weighted pseudo-inverse in place of J −1 [8,16].…”

Section: Numerical Algorithmsmentioning

confidence: 99%

Real-Time Inverse Kinematics Techniques for Anthropomorphic Limbs

2000

View full text Add to dashboard Cite

In this paper we develop a set of inverse kinematics algorithms suitable for an anthropomorphic arm or leg. We use a combination of analytical and numerical methods to solve generalized inverse kinematics problems including position, orientation, and aiming constraints. Our combination of analytical and numerical methods results in faster and more reliable algorithms than conventional inverse Jacobian and optimization-based techniques. Additionally, unlike conventional numerical algorithms, our methods allow the user to interactively explore all possible solutions using an intuitive set of parameters that define the redundancy of the system.

show abstract

“…Note, as stated above, the 6m • 6m submatrix K = K1K d is nonsingular and the explicit form of its transpose appears in (15 …”

Section: The Systems Of Rigid Bodiesmentioning

confidence: 99%

“…Substituting the expressions of PGj appearing in equation (2) iS similarly defined 9 In the case of spherical joints [15] ~k -0 and using equation (29) with Ek -0 in equation (28) …”

Section: Ppq = ~7=~sfppgjsjq" ~ Ol = Max(p Q)mentioning

confidence: 99%

See 1 more Smart Citation

Network model approach to the analysis of multirigid-body systems

Tokad

1993

Dynamics and Control

View full text Add to dashboard Cite

Abstract. The mathematical model of a rigid body in three dimensional motion developed in [1] is used to formulate the equations of motion for the systems of rigid bodies connected to form a special type of open kinematic chain. In this interconnection pattern of rigid bodies, each rigid body is considered as a 3-port component, and for the sake of generality, initially no constraints are imposed on the joints used to interconnect the rigid bodies. The system is considered as an (m + 1)-port component and the corresponding terminal equations are obtained in closed form. As an appliction of these equations, a three-link plane manipulator is considered.

show abstract

Redundancy resolution of manipulators through torque optimization

Cited by 206 publications

References 14 publications

A unifying framework for robot control with redundant DOFs

A unifying framework for robot control with redundant DOFs

Real-Time Inverse Kinematics Techniques for Anthropomorphic Limbs

Network model approach to the analysis of multirigid-body systems

Contact Info

Product

Resources

About