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Visualization of redundancy resolution for kinematically redundant robots through the Jacobian null spaceWe present a unified formulation for the inverse kinematics of redundant arms, based on a special formulation of the null space of the Jacobian. By extending (appropriately re-scaling) previously used null space parameterizations, we obtain, in a unified fashion, the manipulability measure, the null space projector, and particular solutions for the joint velocities. We obtain the minimum norm pseudo-inverse solution as a projection from any particular solution, and the method provides an intuitive visualization of the self-motion. The result is a computationally efficient, consistent approach to computing redundant robot inverse kinematics.
Document ID
19930045123
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Chen, Yu-Che
(Tulsa Univ. OK, United States)
Walker, Ian D.
(NASA Lyndon B. Johnson Space Center Houston, TX, United States)
Cheatham, John B., Jr.
(Rice Univ. Houston, TX, United States)
Date Acquired
August 16, 2013
Publication Date
January 1, 1992
Publication Information
Publication: In: Cooperative intelligent robotics in space III; Proceedings of the Meeting, Boston, MA, Nov. 16-18, 1992 (A93-29101 10-54)
Publisher: Society of Photo-Optical Instrumentation Engineers
Subject Category
Cybernetics
Accession Number
93A29120
Funding Number(s)
CONTRACT_GRANT: NSF MSS-90-24391
CONTRACT_GRANT: NCC9-16
CONTRACT_GRANT: NAG9-372
Distribution Limits
Public
Copyright
Other

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