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1 November 1992 Visualization of redundancy resolution for kinematically redundant robots through the Jacobian null space
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Proceedings Volume 1829, Cooperative Intelligent Robotics in Space III; (1992) https://doi.org/10.1117/12.131701
Event: Applications in Optical Science and Engineering, 1992, Boston, MA, United States
Abstract
We present a unified formulation for the inverse kinematics of redundant arms. Based on a special formulation of the null space of the Jacobian. By extending (appropriately re-scaling) previously used null space parameterizations, we obtain, in a unified fashion, the manipulability measure, the null space projector, and the particular solutions for the joint velocities. We obtain the minimum norm pseudo-inverse solution as a projection from any particular solution, and the method provides an intuitive visualization of the self-motion. The result is a computationally efficient, consistent approach to compute redundant robot inverse kinematics.
© (1992) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Yu-Che Chen, Ian David Walker, and John B. Cheatham, Jr. "Visualization of redundancy resolution for kinematically redundant robots through the Jacobian null space", Proc. SPIE 1829, Cooperative Intelligent Robotics in Space III, (1 November 1992); https://doi.org/10.1117/12.131701
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