DocumentCode
3244810
Title
Combined method of weighted least norm and gradient projection for avoiding joint limit
Author
Park, Seong Sik ; Chung, Wan Kyun
Author_Institution
Dept. of Mech. Eng., POSTECH, Pohang, South Korea
fYear
2011
fDate
23-26 Nov. 2011
Firstpage
798
Lastpage
799
Abstract
This paper proposes the combined method of weighted least norm (WLN) and gradient projection (GP) for avoiding joint limit. WLN has the limitation of lower manipulability. Also GP has lack of reliability. Taking the advantages of both methods, we combined two methods and also performed numerical simulation. The simulation result shows the advantages of both methods.
Keywords
Jacobian matrices; gradient methods; manipulator kinematics; motion control; Jacobian matrix; gradient projection; inverse kinematics problem; joint limit avoidance; manipulator; numerical simulation; resolved motion rate control; weighted least norm; Joints; Kinematics; Manipulators; Numerical simulation; Reliability; Simulation; Vectors; Joint limit avoidance;
fLanguage
English
Publisher
ieee
Conference_Titel
Ubiquitous Robots and Ambient Intelligence (URAI), 2011 8th International Conference on
Conference_Location
Incheon
Print_ISBN
978-1-4577-0722-3
Type
conf
DOI
10.1109/URAI.2011.6146022
Filename
6146022
Link To Document