The nature of drift in pseudoinverse control of kinematically redundant manipulators

Klein, Charles A.; Kee, K.-B.

doi:10.1109/70.88043

Cited by 91 publications

(33 citation statements)

References 8 publications

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“…Other secondary criteria are: obstacle avoidance (Klein and Kee 1989), joint torque optimization (Honegger and Codourey 1998, Noble 1975, Sciavicco and Siciliano 1987, joint velocity constraints (Beiner 1999, Cleary and Tesar 1990, Martin et al 1989, Nedungadi and Kazerounian 1989, energy minimization (Beiner 1999, Chan and Dubey 1995, Klein 1985, manipulator precision (Klein 1985), speed of operation (Chan and Dubey 1995), joint limit avoidance , maximization of various end-effector dexterity measures (Klein and Kee 1989), multiple performance criteria , Erikson and Thor 1999, Nedungadi 1987, global optimization and global versus local optimization. Additional information about redundant manipulators can be found in Siciliano (1990).…”

Section: State Of the Artmentioning

confidence: 99%

“…In Klein (1989), the problem with joint drift, when one uses only the pseudo inverse control, was analyzed for the case when a cyclic task was performed. Despite a well-developed theory in by Löfgren (1989), there was still a problem with making the control conservative (i.e., when repeating a work cycle several times, the joint configurations will not be repeatable and the manipulator can run into unfavorable configurations).…”

Section: State Of the Artmentioning

confidence: 99%

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Kinematic Control of Redundant Knuckle Booms

Löfgren

Wikander

2009

International Journal of Forest Engineering

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The Swedish forestry industry competes on an international market; because raw material is more expensive than in other parts of the world, the chain from the stump to the industry needs to be very effective. One part in this chain is cutting and transporting trees from the forest to the landing area for further transportation with trucks to the paper or saw mill. When cutting and transporting trees, forestry machines equipped with booms are used to handle the trees. If boom handling time can be reduced thereby increasing productivity by 10 percent, the Swedish forestry industry can earn up to 250 million Swedish crowns (US$35 million) per year.One way to decrease boom handling time is to introduce automatization. This paper describes how to solve the kinematic control of knuckle booms used on forestry machines when automatization is introduced. The objective was to develop a kinematic control strategy for maximum lifting capacity, which is suited for computer-controlled knuckle booms that are redundant. This strategy was analyzed with respect to time consumption when the manipulator tip moves along a predetermined path. The analysis was conducted on a knuckle boom used on a forwarder in a forestry application. The knuckle boom had one redundant degree of freedom. The analysis showed the necessary joint speed requirements and time consumption for certain motion cycles and also what happens when the joints reach their maximum velocity limits.

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Section: State Of the Artmentioning

confidence: 99%

Section: State Of the Artmentioning

confidence: 99%

Kinematic Control of Redundant Knuckle Booms

Löfgren

Wikander

2009

International Journal of Forest Engineering

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“…Thus, the two surfaces satisfying 8 = 0 are not stable surfaces. Therefore, the convergence behavior noted in [3] and [4] is convergence to a repeatable solution for a given closed trajectory as opposed to convergence to a stable surface. Since this manipulator is known to possess a stable surface when described in terms of absolute angles [9], this example illustrates the important point that stable surfaces are not preserved under joint transformations.…”

Section: A Class Of Repeatable Inversesmentioning

confidence: 99%

Nearest optimal repeatable control strategies for kinematically redundant manipulators

Roberts

Maciejewski

1992

IEEE Trans. Robot. Automat.

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“…where D.J is a homogeneous solution of (3) and dO p is the pseudoinverse solution for dO. The null space of where a is a nonzero scalar.…”

Section: Theorem the Pfaffian X· DX Is Integrable If And Only Ifmentioning

confidence: 99%

“…In other words, pseudoinverse control of kinematically redundant manipulators produces a drift in joint space when a cyclic task is performed in rectilinear space. Klein and Kee [3] showed that this drift has predictable properties including a numerically stable limit in some situations. If such a limit exists, the appropriate initial joint values could be set to guarantee conservative solutions.…”

Section: Introductionmentioning

confidence: 99%

Near-pseudoinverse control of kinematically redundant manipulators with the constraint of repeatability

Roberts

Maciejewski

1991

IEEE International Conference on Systems Engineering

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The issue of repeatability is addressed for a particular redundant manipulator. This particular manipulator is a planar three-link manipulator with two orthogonal, prismatic joints and a third revolute joint. This manipulator can be thought of as a mobile robot with one revolute joint. It is shown that pseudoinverse control has no stable surfaces for this robotic manipulator. A class of repeatable inverses is then derived. Finally the repeatable inverse which is closest in an integral norm sense to the pseudoinverse is found from this class.If it turns out that this surface is in fact an integral surface, then a choice of initial joint settings which lies on this surface will guarantee repeatability. An integral surface is stable in the sense that if the manipulator starts on the surface then it will continue to stay on that surface. An example is given in [5]

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The nature of drift in pseudoinverse control of kinematically redundant manipulators

Cited by 91 publications

References 8 publications

Kinematic Control of Redundant Knuckle Booms

Kinematic Control of Redundant Knuckle Booms

Nearest optimal repeatable control strategies for kinematically redundant manipulators

Near-pseudoinverse control of kinematically redundant manipulators with the constraint of repeatability

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