Singularity-robustness and task-prioritization in configuration control of redundant robotsThe authors present a singularity-robust task-prioritized reformulation of the configuration control for redundant robot manipulators. This reformation suppresses large joint velocities to induce minimal errors in the task performance by modifying the task trajectories. Furthermore, the same framework provides a means for assignment of priorities between the basic task of end-effector motion and the user-defined additional task for utilizing redundancy. This allows automatic relaxation of the additional task constraints in favor of the desired end-effector motion when both cannot be achieved exactly.
Document ID
19920028943
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Seraji, H. (JPL Pasadena, CA, United States)
Colbaugh, R. (New Mexico State University Las Cruces, United States)