DocumentCode
3258459
Title
Singular perturbations and the resolution of kinematic redundancy
Author
Martin, D.P. ; Baillieul, J.
Author_Institution
Dept. of Aerosp. & Mech. Eng., Boston Univ., MA, USA
fYear
1991
fDate
9-11 Apr 1991
Firstpage
2174
Abstract
Necessary conditions for pathwise optimal resolution of redundancy in robot manipulation kinematics are given in terms of boundary value problems. The true optimal solution must be selected from a family of mutually nonhomotopic locally optimal solutions. By means of careful singular perturbation analysis, it is shown that homotopy continuation may be used to simplify the calculation of optimal trajectories
Keywords
boundary-value problems; kinematics; redundancy; robots; boundary value problems; kinematic redundancy; mutually nonhomotopic locally optimal solutions; optimal trajectories; pathwise optimal resolution; robot manipulation; singular perturbation analysis; Aerospace engineering; Boundary conditions; Equations; Jacobian matrices; Kinematics; Manipulators; Mechanical engineering; Null space; Path planning; Robots;
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.1991.131951
Filename
131951
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