An extended form of damped pseudoinverse control of kinematically redundant manipulators

Author

Huang, Lei-Guang

Author_Institution

Inst. of Autom., Acad. Sinica, Beijing, China

Volume

4

fYear

1997

fDate

12-15 Oct 1997

Firstpage

3791

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems, Man, and Cybernetics, 1997. Computational Cybernetics and Simulation., 1997 IEEE International Conference on

Conference_Location

Orlando, FL

ISSN

1062-922X

Print_ISBN

0-7803-4053-1

Type

conf

DOI

10.1109/ICSMC.1997.633260

Filename

633260