DocumentCode :
3235605
Title :
Measure of joint path drift for kinematically redundant robots
Author :
Luo, Shengwu ; Ahmad, Shaheen
Author_Institution :
Real-Time Robot Control Lab., Purdue Univ., West Lafayette, IN, USA
fYear :
1991
fDate :
9-11 Apr 1991
Firstpage :
1163
Abstract :
Redundant robots which are kinematically controlled by using Jacobian pseudo-inverses may not have repeatable joint motions. This problem was initially observed and analyzed by C.A. Klein and C.H. Huang (1983). T. Shamir and Y. Yomdin (1988) recently analyzed this problem using a differential geometric approach. The above papers arrived at conditions under which a cyclic path in the work space does not result in a cyclic path in the joint space. However, it was not clear that these conditions were equivalent. It is presently shown that these two criteria are indeed equivalent. A measure for the drift motion is presented. The mathematical analysis given in the present paper can determine these predictable properties of drift motion. It is shown that the Lyapunov analysis and phase portrait techniques can be used to predict the stability behavior of drift utilizing the drift density measure described here. Information about how much drift will occur and which configurations are stable can be obtained from the analysis
Keywords :
Lyapunov methods; control system analysis; position control; robots; stability; Jacobian pseudo-inverses; Lyapunov analysis; control system analysis; drift motion; joint path drift; kinematically redundant robots; phase portrait; stability; Density measurement; Information analysis; Jacobian matrices; Mathematical analysis; Motion analysis; Motion control; Motion measurement; Phase measurement; Robots; Stability analysis;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on
Conference_Location :
Sacramento, CA
Print_ISBN :
0-8186-2163-X
Type :
conf
DOI :
10.1109/ROBOT.1991.131766
Filename :
131766
Link To Document :
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