NASA Logo

NTRS

NTRS - NASA Technical Reports Server

Back to Results
Case studies in configuration control for redundant robotsA simple approach to configuration control of redundant robots is presented. The redundancy is utilized to control the robot configuration directly in task space, where the task will be performed. A number of task-related kinematic functions are defined and combined with the end-effector coordinates to form a set of configuration variables. An adaptive control scheme is then utilized to ensure that the configuration variables track the desired reference trajectories as closely as possible. Simulation results are presented to illustrate the control scheme. The scheme has also been implemented for direct online control of a PUMA industrial robot, and experimental results are presented. The simulation and experimental results validate the configuration control scheme for performing various realistic tasks.
Document ID
19900053777
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Seraji, H.
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Lee, T.
(JPL Pasadena, CA, United States)
Colbaugh, R.
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Glass, K.
(New Mexico State University Las Cruces, United States)
Date Acquired
August 14, 2013
Publication Date
January 1, 1989
Subject Category
Cybernetics
Meeting Information
Meeting: IEEE Conference on Decision and Control
Location: Tampa, FL
Country: United States
Start Date: December 13, 1989
End Date: December 15, 1989
Sponsors: IEEE
Accession Number
90A40832
Distribution Limits
Public
Copyright
Other

Available Downloads

There are no available downloads for this record.
No Preview Available