Manipulability constraint locus for a redundant manipulator

Author

Choi, Byoung Wook ; Won, Jong Hwa ; Chung, Myung Jin

Author_Institution

Dept. of Electr. Eng., Korea Adv. Inst. of Sci. & Technol., Seoul, South Korea

fYear

1991

fDate

3-5 Nov 1991

Firstpage

167

Abstract

A manipulability constraint locus to characterize the performance of a subtask for a redundant manipulator is suggested. The manipulability constraint locus is the loci of configurations satisfying the necessary condition for optimality of the manipulability measure in the configuration space. Using the manipulability constraint locus, the topological property of the configuration space and the invertible workspace without singularities are analyzed. Through numerical example, some limitations of the inverse kinematic algorithms when one utilizes the redundancy are investigated. Finally, a promising algorithm which provides a conservative joint trajectory without singularities for almost entire workspace is proposed

Keywords

control system analysis; kinematics; redundancy; robots; topology; configuration space; inverse kinematic; joint trajectory; manipulability constraint locus; necessary condition; optimality; redundancy; redundant manipulator; robots; topology; Constraint optimization; Jacobian matrices; Kinematics; Optimization methods; Space technology;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems '91. 'Intelligence for Mechanical Systems, Proceedings IROS '91. IEEE/RSJ International Workshop on

Conference_Location

Osaka

Print_ISBN

0-7803-0067-X

Type

conf

DOI

10.1109/IROS.1991.174444

Filename

174444