Redundant arm control in a supervisory and shared control systemThe Extended Task Space Control approach to robotic operations based on manipulator behaviors derived from task requirements is described. No differentiation between redundant and non-redundant robots is made at the task level. The manipulation task behaviors are combined into a single set of motion commands. The manipulator kinematics are used subsequently in mapping motion commands into actuator commands. Extended Task Space Control is applied to a Robotics Research K-1207 seven degree-of-freedom manipulator in a supervisory telerobot system as an example.
Document ID
19920056045
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Backes, Paul G. (Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)