Title :
Redundant manipulators under kinematic constraints: a topology-based kinematic map generation and discretization
Author :
Lück, Carlos L. ; Lee, Sukhan
Author_Institution :
Dept. of Electr. Eng., Univ. of Southern California, Los Angeles, CA, USA
Abstract :
The topology of self-motion manifolds for redundant manipulators with kinematic constraints is discussed. The semi-singularity is a fundamental concept for this analysis, and in this paper we present its analytical properties. A space discretization scheme is proposed, which is driven by the self-motion topology and embeds the kinematic map in its representation. A 3-DOF planar manipulator illustrates the methodology
Keywords :
discrete time systems; manipulator kinematics; motion control; path planning; redundancy; self-adjusting systems; topology; 3-DOF planar manipulator; kinematic constraints; kinematic map generation; path planning; redundant manipulators; self-motion manifolds; semi-singularity; space discretization; topology; Jacobian matrices; Kinematics; Laboratories; Linear systems; Manifolds; Manipulators; Null space; Orbital robotics; Space technology; Topology;
Conference_Titel :
Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on
Conference_Location :
Nagoya
Print_ISBN :
0-7803-1965-6
DOI :
10.1109/ROBOT.1995.525634
