Title :
Subtask performance by redundancy resolution for redundant robot manipulators
Author :
Walker, Ian D. ; Marcus, Steven I.
Author_Institution :
Dept. of Electr. & Comput. Eng., Texas Univ., Austin, TX, USA
fDate :
6/1/1988 12:00:00 AM
Abstract :
The problem of selecting joint space trajectories for redundant manipulators is considered. Solutions which allow secondary tasks to be performed by the arm simultaneously with end-effector motions may be selected in a number of ways. An algorithm to accomplish this, by means of conditions on a scalar function of the joint variables, is introduced and analyzed. Problems inherent in schemes involving constraints in configuration space are considered
Keywords :
position control; redundancy; robots; end-effector motions; joint space trajectories; redundancy; redundant robot manipulators; scalar function; subtask performance; Algorithm design and analysis; Communication system control; End effectors; Jacobian matrices; Legged locomotion; Manipulators; Military computing; Orbital robotics; Robot kinematics; Robotics and automation;
Journal_Title :
Robotics and Automation, IEEE Journal of
