An extension to operational space for kinematically redundant manipulators: Kinematics and dynamics

被引：18

作者：

Chang, PH ^{[1
]}

Park, KC

Lee, S

机构：

[1] Korea Adv Inst Sci & Technol, Dept Mech Engn, Taejon 305701, South Korea

[2] Samsung Adv Inst Technol, Kyungki Do, South Korea

来源：

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | 2000年 / 16卷 / 05期

关键词：

dynamics; kinematics; null space; operational space; redundant manipulator; statics;

D O I：

10.1109/70.880809

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

An 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. Based on the EXOS Jacobian, free of algorithmic singularity, the kinematics, statics, and dynamics of a redundant manipulator are derived in a compact form. In particular, the resulting EXOS dynamics is able to identify the inner dynamic structure. Its efficacy and efficiency have been demonstrated through comparative analysis and simulation.

引用

页码：592 / 596

页数：5

共 25 条

[1]

[Anonymous], P IEEE INT C ROB AUT

[2]

BAILLIEUL J, 1985, P IEEE INT C ROB AUT, P722, DOI DOI 10.1109/ROBOT.1985.1087234

[3] ON THE INVERSE KINEMATICS OF REDUNDANT MANIPULATORS - CHARACTERIZATION OF THE SELF-MOTION MANIFOLDS [J].

BURDICK, JW .

PROCEEDINGS - 1989 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOL 1-3, 1989, :264-270

[4]

Chang P. H., 1987, IEEE Journal of Robotics and Automation, VRA-3, P393, DOI 10.1109/JRA.1987.1087114

[5] ROBUST FORCE POSITION CONTROL OF A ROBOT MANIPULATOR USING TIME-DELAY CONTROL [J].

CHANG, PH ;

KIM, DS ;

PARK, KC .

CONTROL ENGINEERING PRACTICE, 1995, 3 (09) :1255-1264

[6] An experimental study on improving hybrid position/force control of a robot using time delay control [J].

Chang, PH ;

Park, BS ;

Park, KC .

MECHATRONICS, 1996, 6 (08) :915-931

[7]

CHANG PH, 1987, 1022 MIT AI LAB

[8]

CHANG PH, 1994, T KOREAN SOC MECH EN, V18, P3253

[9]

CHOI BW, 1991, P IEEE RSJ IROS, P167

[10]

CHUNG WJ, 1993, P IEEE RSJ INT C INT, P1053

← 1 2 3 →