Analysis and Control of Robot Manipulators with Kinematic Redundancy
Item
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Title
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en_US
Analysis and Control of Robot Manipulators with Kinematic Redundancy
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Creator
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en_US
Chang, Pyung H.
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Date
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2004-10-20T20:11:16Z
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Date Available
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2004-10-20T20:11:16Z
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Date Issued
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en_US
1987-05-01
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Identifier
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en_US
AITR-1022
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Abstract
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en_US
A closed-form solution formula for the kinematic control of manipulators with redundancy is derived, using the Lagrangian multiplier method. Differential relationship equivalent to the Resolved Motion Method has been also derived. The proposed method is proved to provide with the exact equilibrium state for the Resolved Motion Method. This exactness in the proposed method fixes the repeatability problem in the Resolved Motion Method, and establishes a fixed transformation from workspace to the joint space. Also the method, owing to the exactness, is demonstrated to give more accurate trajectories than the Resolved Motion Method. In addition, a new performance measure for redundancy control has been developed. This measure, if used with kinematic control methods, helps achieve dexterous movements including singularity avoidance. Compared to other measures such as the manipulability measure and the condition number, this measure tends to give superior performances in terms of preserving the repeatability property and providing with smoother joint velocity trajectories. Using the fixed transformation property, Taylor's Bounded Deviation Paths Algorithm has been extended to the redundant manipulators.
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Extent
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11492790 bytes
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4402720 bytes
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Format
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application/postscript
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application/pdf
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Language
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en_US
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Relation
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en_US
AITR-1022