Kinematic control of redundant robots and the motion optimizability measure

Authors
Li, LY Gruver, WA Zhang, QX Yang, ZX
Citation
Ly. Li et al., Kinematic control of redundant robots and the motion optimizability measure, IEEE SYST B, 31(1), 2001, pp. 155-160
Citations number
23
Categorie Soggetti
AI Robotics and Automatic Control
Journal title
IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS
ISSN journal
10834419 → ACNP
Volume
31
Issue
1
Year of publication
2001
Pages
155 - 160
Database
ISI
SICI code
1083-4419(200102)31:1<155:KCORRA>2.0.ZU;2-H
Abstract
This paper treats the kinematic control of manipulators with redundant degr ees of freedom. We derive an analytical solution for the inverse kinematics that provides a means for accommodating joint velocity constraints in real time. We define the motion optimizability measure and use it to develop an efficient method for the optimization of joint trajectories subject to mul tiple criteria. An implementation of the method for a 7-dof experimental re dundant robot is presented.