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Singular perturbations and the resolution of kinematic redundancy
Proceedings. 1991 IEEE International Conference on Robotics and Automation, 2002Necessary conditions for pathwise optimal resolution of redundancy in robot manipulation kinematics are given in terms of boundary value problems. The true optimal solution must be selected from a family of mutually nonhomotopic locally optimal solutions.
Daniel P. Martin 0002, John Baillieul
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A study of a kinematically redundant manipulator structure
Proceedings. 1986 IEEE International Conference on Robotics and Automation, 1986Six degrees of freedom is only the minimum requirement for a manipulator to have full spatial positioning capability. However, effective use of more than six degrees of freedom is not a simple problem. Those systems with redundant degrees of freedom which have been successfully operated are based on end-point sensing.
Kenneth J. Waldron, John Reidy
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On dynamical decoupling of kinematically redundant manipulators
Proceedings 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human and Environment Friendly Robots with High Intelligence and Emotional Quotients (Cat. No.99CH36289), 2003The kinematically decoupled joint space decomposition is proposed as a general coordinate transformation between the joint space and the task space of kinematically redundant manipulators. The method can describe the kinematic, force, and dynamic redundancy in a unified way using a minimal number of systematic motion variables.
Jonghoon Park +2 more
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On avoiding singularities in redundant robot kinematics
Robotica, 1995SummaryFor redundant robot kinematics with a degree of redundancy 1 a self-motion vector field is examined whose equilibrium points lie at singular configurations of the kinematics, and whose orbits determine the self-motion manifolds. It is proved that the self-motion vector field is divergence-free. Locally, around singular configurations of corank 1,
Krzysztof Tchon, Aleksander Matuszok
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Inverse kinematic functions for redundant manipulators
Proceedings. 1987 IEEE International Conference on Robotics and Automation, 2005A general approach to the kinematic control of redundant manipulators using inverse kinematic functions is presented. The principal objective is to find an inverse kinematic function and a workspace such that the ratio of joint speed to workspace speed is bounded. The definition of such feasible workspaces leads naturally to optimization problems aimed
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Kinematic programming alternatives for redundant manipulators
Proceedings. 1985 IEEE International Conference on Robotics and Automation, 2005In the growing literature on redundant manipulator control, a number of techniques have been proposed for solving the inverse kinemetics problem. Some of these techniques are surveyed with a discussion of strengths and weaknesses of each. A new approach, called the extended Jacobian technique, is also presented. It is argued that because this technique
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Optimal redundancy resolution of a kinematically redundant manipulator for a cyclic task
Journal of Robotic Systems, 1992AbstractThis article proposes a method for the global optimization of redundancy over the whole task period in a kinematically redundant manipulator. The necessary conditions based on the calculus of variations for integral‐type criteria result in a second‐order differential equation.
CHOI, BW +2 more
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Kinematic redundancy and sensor redundancy for enhancement of robot tracking performance
Journal of Intelligent and Robotic Systems, 1996Imprecision of robot's internal sensors and its influence on trajectory tracking tasks along with high dynamic requirements are the main issues in this paper. The solution proposes redundancy introduction (in the shape of small mechanism at the top of the robot) for resolving both problems.
Veljko Potkonjak +4 more
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An extension to operational space for kinematically redundant manipulators: kinematics and dynamics
IEEE Transactions on Robotics and Automation, 2000An extension to operational space (EXOS) is presented for the explicit representation of the null-space (NS) dynamics and its interaction with the operational-space dynamics. First, the EXOS Jacobian is formed by augmenting the Jacobian matrix with a minimum number of its NS vectors.
Pyung-Hua Chang +2 more
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Avoiding obstacles and resolving kinematic redundancy
Proceedings. 1986 IEEE International Conference on Robotics and Automation, 1986While obstacles in a robot workspace can effectively reduce the number of degrees of freedom, there need not be a corresponding loss of functionality for kinematically redundant mechanisms. In this paper, disk-like obstacles for a planar three-bar mechanism are classified.
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