Repeatable redundant manipulator control using nullspace quasivelocities / Alan Bowling in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 132 N° 3 (Mai 2010)  

Public ISBD [article]  inTransactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 132 N° 3 (Mai 2010) . - 11 p. Titre : Repeatable redundant manipulator control using nullspace quasivelocities Type de document : texte imprimé Auteurs : Alan Bowling, Auteur ; Sean Harmeyer, Auteur Année de publication : 2010 Article en page(s) : 11 p. Note générale : Systèmes dynamiques Langues : Anglais (eng) Mots-clés : Redundant manipulators Index. décimale : 629.8 Résumé : This paper presents a repeatable control scheme for redundant manipulators. It is developed in terms of physically meaningful variables, a concept closely related to integrability and homogeneity. This approach sheds a different light on some well-known phenomena related to redundant manipulator control. The control is developed by determining enough physically meaningful variables to describe the manipulator's motions in the task and nullspaces, in a manner that allows them to be controlled independently. These variables are then used to develop physically meaningful controller error signals. As a consequence, all configurations in the workspace are repeatable, except for those at, or very close, to a kinematic singularity. The approach is illustrated on a 6DOF planar manipulator. DEWEY : 629.8 ISSN : 0022-0434 En ligne : http://asmedl.aip.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA00013200 [...] [article] Repeatable redundant manipulator control using nullspace quasivelocities [texte imprimé] / Alan Bowling, Auteur ; Sean Harmeyer, Auteur . - 2010 . - 11 p. Systèmes dynamiques Langues : Anglais (eng) in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 132 N° 3 (Mai 2010) . - 11 p. Mots-clés : Redundant manipulators Index. décimale : 629.8 Résumé : This paper presents a repeatable control scheme for redundant manipulators. It is developed in terms of physically meaningful variables, a concept closely related to integrability and homogeneity. This approach sheds a different light on some well-known phenomena related to redundant manipulator control. The control is developed by determining enough physically meaningful variables to describe the manipulator's motions in the task and nullspaces, in a manner that allows them to be controlled independently. These variables are then used to develop physically meaningful controller error signals. As a consequence, all configurations in the workspace are repeatable, except for those at, or very close, to a kinematic singularity. The approach is illustrated on a 6DOF planar manipulator. DEWEY : 629.8 ISSN : 0022-0434 En ligne : http://asmedl.aip.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA00013200 [...]

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