1 February 1990 Global Kinematics for Manipulator Planning and Control
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Proceedings Volume 1196, Intelligent Control and Adaptive Systems; (1990) https://doi.org/10.1117/12.969907
Event: 1989 Symposium on Visual Communications, Image Processing, and Intelligent Robotics Systems, 1989, Philadelphia, PA, United States
Abstract
This paper reviews one method of global kinematic analysis, based on a manifold mapping reformulation of manipulator kinematics, which is suitable for both non-redundant and redundant serial chain manipulators. Two applications of this approach are considered: the relationship between changing pose and singularities for non-redundant manipulators and the homotopy class of redundant manipulator self-motions. The first relationship has important implications for non-redundant manipulator regrasping operations. Variations in redundant manipulator self-motion homotopy can have an important effect on motion and redundancy resolution planning, since they can lead to algorithmic singularities and unexpected loss of manipulator capabilities.
© (1990) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Joel W. Burdick, Joel W. Burdick, } "Global Kinematics for Manipulator Planning and Control", Proc. SPIE 1196, Intelligent Control and Adaptive Systems, (1 February 1990); doi: 10.1117/12.969907; https://doi.org/10.1117/12.969907
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