2A1-B05 Adaptation to Obstacles by Preserving Redundant Degrees of Freedom in Endpoint Position Control of a Teleoperated Robot Arm with Six Joints(New Control Theory and Motion Control)

2012 ◽  
Vol 2012 (0) ◽  
pp. _2A1-B05_1-_2A1-B05_4
Author(s):  
Takanobu YASUI ◽  
Masahiro SEKIMOTO ◽  
Daisuke YANABA ◽  
Hiroyuki KIMURA
Keyword(s):  
Control Theory ◽  
Motion Control ◽  
Degrees Of Freedom ◽  
Position Control ◽  
Robot Arm

Optimal Point-to-Point Motion Control of Robots With Redundant Degrees of Freedom

1986 ◽  
Vol 108 (2) ◽  
pp. 120-126 ◽  
Author(s):  
R. G. Fenton ◽  
B. Benhabib ◽  
A. A. Goldenberg
Keyword(s):  
Motion Control ◽  
Degrees Of Freedom ◽  
Generalized Inverse ◽  
Optimization Procedure ◽  
Merit Function ◽  
Robot Arm ◽  
Optimal Point ◽  
Motion Time ◽  
Point Motion ◽  
Point To Point

Control of a kinematically redundant robot arm requires an optimization procedure to determine the motion of the end effector. The criterion for optimization can be minimum motion time, minimum joint displacement increments or a combined merit function specified according to the requirements of the user. Three different methods may be used to perform the computations and obtain the joint coordinate increments for the point-to-point motion control of the robot. The methods are the “direct,” the “pseudoinverse” and the “generalized inverse” methods. These methods are described in detail in this paper, and results obtained with the three methods are compared on the basis of performing simulated tasks. It is concluded that the generalized inverse method is the most suitable, general method for point-to-point control of robots with more than six degrees-of-freedom.

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