Near-pseudoinverse control of kinematically redundant manipulators with the constraint of repeatability Roberts, Rodney G. ; Maciejewski, Anthony A. The issue of repeatability is addressed for a particular redundant manipulator. This particular manipulator is a planar three-link manipulator with two orthogonal, prismatic joints and a third revolute joint. This manipulator can be thought of as a mobile robot with one revolute joint. It is shown that pseudoinverse control has no stable surfaces for this robotic manipulator. A class of repeatable inverses is then derived. Finally the repeatable inverse which is closest in an integral norm sense to the pseudoinverse is found from this class. Colorado State University. Libraries 1991 text ; image application/pdf ECEaam00059.pdf FACFECEN100059ARTI eng c1991 IEEE
Near-pseudoinverse control of kinematically redundant manipulators with the constraint of repeatability
Roberts, Rodney G. ; Maciejewski, Anthony A.
The issue of repeatability is addressed for a particular redundant manipulator. This particular manipulator is a planar three-link manipulator with two orthogonal, prismatic joints and a third revolute joint. This manipulator can be thought of as a mobile robot with one revolute joint. It is shown that pseudoinverse control has no stable surfaces for this robotic manipulator. A class of repeatable inverses is then derived. Finally the repeatable inverse which is closest in an integral norm sense to the pseudoinverse is found from this class.
Colorado State University. Libraries
1991
text ; image
application/pdf
ECEaam00059.pdf
FACFECEN100059ARTI
eng
c1991 IEEE