Title :
An extended form of damped pseudoinverse control of kinematically redundant manipulators
Author :
Huang, Lei-Guang
Author_Institution :
Inst. of Autom., Acad. Sinica, Beijing, China
Abstract :
A damped pseudoinverse kinematic control scheme with optimization of secondary performance criterion is presented which can be treated as an extended form of regular damped pseudoinverse solutions. With the scheme and the method of selecting damping and optimization factors proposed in the paper, the manipulator´s dexterity is expected to be exploited more effectively. Based on the singular value decomposition (SVD) methods, an efficient parallel algorithm is provided in order to implement the control scheme in real control systems. Simulations show the advantages of the scheme to other relative ones
Keywords :
damping; least squares approximations; manipulator kinematics; optimal control; parallel algorithms; redundancy; singular value decomposition; damped pseudoinverse control; damping; kinematic control scheme; kinematically redundant manipulators; least squares methods; manipulator dexterity; optimization; parallel algorithm; performance criterion; simulation; singular value decomposition methods; Automatic control; Automation; Damping; Equations; Jacobian matrices; Kinematics; Manipulators; Motion control; Orbital robotics; Robots;
Conference_Titel :
Systems, Man, and Cybernetics, 1997. Computational Cybernetics and Simulation., 1997 IEEE International Conference on
Conference_Location :
Orlando, FL
Print_ISBN :
0-7803-4053-1
DOI :
10.1109/ICSMC.1997.633260
