Title :
Exploiting redundancy in resolved motion control
Author :
Thiru-Arooran, C. ; Downton, G.C.
Author_Institution :
Berkeley Nucl. Labs., Nucl. Electr. plc., UK
Abstract :
Direct tip velocity control of a general manipulator with redundant degrees of freedom with collision avoidance capabilities is presented and the modifications needed to implement it on real manipulators are described.<>
Keywords :
manipulators; path planning; position control; redundancy; velocity control; collision avoidance; direct tip velocity control; path planning; redundant degrees of freedom; resolved motion control; Collision avoidance; Laboratories; Mathematics; Motion control; Nuclear power generation; Power generation; Programmable control; Robot sensing systems; Vectors; Velocity control;
Conference_Titel :
Advanced Robotics, 1991. 'Robots in Unstructured Environments', 91 ICAR., Fifth International Conference on
Conference_Location :
Pisa, Italy
Print_ISBN :
0-7803-0078-5
DOI :
10.1109/ICAR.1991.240536
