Title :
Redundancy resolution of robot manipulators using optimal kinematic control
Author :
Kim, Sung-Woo ; Park, Kang-Bark ; Lee, Ju-Jang
Author_Institution :
Dept. of Electr. Eng., Korea Adv. Inst. of Sci. & Technol., Seoul, South Korea
Abstract :
Globally optimal redundancy resolution in robot manipulators is considered. Some researchers have approached the redundancy resolution with optimization techniques and others with Pontryagin´s principle. In this paper, as another approach we propose the optimal kinematic control. The formulation is: first to convert the redundancy resolution problem to an optimal control problem, and to obtain the globally optimal resolution of redundancy by using the necessary conditions of optimal control. As a result, we get 2n first-order partial differential equations and corresponding boundary conditions. It is shown that these 2n equations are equivalently converted to n second-order differential equations resolving the redundancy in joint acceleration level
Keywords :
boundary-value problems; kinematics; optimal control; partial differential equations; redundancy; robots; boundary conditions; first-order partial differential equations; globally optimal redundancy resolution; joint acceleration level redundancy; optimal kinematic control; robot manipulators; second-order differential equations; Acceleration; Boundary conditions; Differential equations; Jacobian matrices; Kinematics; Manipulators; Optimal control; Orbital robotics; Partial differential equations; Robots;
Conference_Titel :
Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
0-8186-5330-2
DOI :
10.1109/ROBOT.1994.351407