Hostname: page-component-cd9895bd7-gxg78 Total loading time: 0 Render date: 2024-12-19T00:29:52.008Z Has data issue: false hasContentIssue false
  • English
  • Français

Joint velocity uniformity in redundant robot manipulators

Published online by Cambridge University Press:  09 March 2009

A. Hemami
A. Hemami
Affiliation:
Department of Mechanical Engineering, Concordia University, 1455 de Maisonneuve Boulevard West, Montreal, (Québec) H3G 1M8 (Canada)
Get access Rights & Permissions [Opens in a new window]

Summary

A redundant robot manipulator has several certain or expected advantages over a nonredundant one. It is expected, among other capabilities, that the joints vary with constant velocities during the execution of those tasks which in a nonredundant manipulator require variable joint velocities. In this way, motion becomes more precise because of the elimination of errors associated with velocity change in joints. In this paper, it is shown that this expected advantage is not possible for all the joints, and that only as many joints as the degree of redundancy can have constant velocities.

Keywords

Joint velocityRedundant manipulatorRedundancy degrees
Type
Article
Information
Robotica , Volume 8 , Issue 1 , January 1990 , pp. 69 - 72
Copyright
Copyright © Cambridge University Press 1990

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Dubey, R. and Walker, M.W., “Control Scheme for Redundant Manipulators” Proc. 7th Southeastern Symposium Systems Theory 36–38 (1985).Google Scholar
2.Gu, Y.L., “Dynamics and Control for Redundant Robots” Proceedings of IEEE International Conference Robotics and Automation194–199 (1988).Google Scholar
3.Baillieul, J., Hollerbach, J. and Brockett, R., “Programming and Control of Kinematically Redundant Manipulators” Proceedings of the 23rd Conference on Decision and Control768–774 (1984).CrossRefGoogle Scholar
4.Chan, S.K. and Lawrence, P.D., “General Inverse Kinematics with the Error Damped Pseudoinverse” Proceedings of IEEE International Conference Robotics and Automation834–839 (1988).Google Scholar
5.Mayorga, R.V. and Wong, A.K.C., “A Singularities Avoidance Approach for the Optimal Local Path Generation of Redundant Manipulators” Proc. IEEE Conf. Robotics and Automation, 49–54 (1988).Google Scholar
6.Stanišić, M.M. and Pennock, G.R., “A Nondegenerate Kinematic Solution of a Seven Jointed Robot Manipulator” Int. J. Robotics Research 4, No. 2, 10–20 (1985).CrossRefGoogle Scholar
7.Nakamura, Y. et al. , “Task Priority Based Redundancy Control of Robot Manipulators” Int. J. Robotics Research 6, No. 2, 3–15 (1987).CrossRefGoogle Scholar
8.Maciejewski, A.A. and Klein, C.A., “Obstacle Avoidance for Kinematically Redundant Manipulators in Dynamically Varying Environment” Int. J. Robotics Research 4, No. 3, 109–117 (1985).CrossRefGoogle Scholar
9.Lovass-Nagy, V., and Schilling, R.J., “Control of Kinematically Redundant Robots Using {l}-Inverse” IEEE Trans. Systems, Man and Cybernetics SMC-17, No. 4, 644–649 (1987).Google Scholar
10.Angeles, J., and Habib, M., “Numerical Schemes for the Kinematic Control of Redundant Robot Manipulators” Int. Symposium on Mini and Microcomputers and their Application 109–114 (1985).Google Scholar
11.Konstantinov, M.S. et al. “Kinematic Control of Redundant Manipulators” Proceedings 11th ISIR 561–568 (1981).Google Scholar
12.Klein, C.A. and Blaho, B.E., “Dexterity Measures for the Design and Control of Kinematically Redundant Manipulators” Intern. Robotics Research 6, No. 2, 72–83 (1987).CrossRefGoogle Scholar
13.Yoshikawa, T., “Analysis and Control of Robot Manipulators with Redundancy” Proceedings First International Symposium Robotics Research, Bretton Woods, N.H. 735–747 (1983).Google Scholar
14.Nakamura, Y. and Hanafusa, H., “Optimal Redundancy Control of Robot Manipulators” Int. J. Robotics Research 6, No. 1, 32–42 (1987).CrossRefGoogle Scholar
15.Das, H. et al. “inverse Kinematic Algorithms for Redundant Systems” Proceedings of IEEE Int. Conf. Robotics and Automation, Philadelphia 43–48 (1988).Google Scholar
16.Goldenberg, A.A. et al. “A Complete Generalized Solution to the Inverse Kinematics of Robots” IEEE J. Robotics and Automation RA-1, No. 1, 14–20 (1985).CrossRefGoogle Scholar
17.Klein, C.A. and Huang, C.H., “Review of Pseudoinverse Control for Use with Kinematically Redundant Manipulators” IEEE Trans. Systems, Man and Cybernetics SMC-13, No. 3, 245–250 (1983).Google Scholar
18.Chevallerean, C. and Khalil, W., “A New Method for the Solution of the Inverse Kinematics of Redundant Robots” Proceedings IEEE Int. Conference on Robotics and Automation37–42 (1988).Google Scholar
19.Dubey, R.V., Euler, J.A. and Babcock, S.M., “An Efficient Gradient Projection Optimization Scheme for a Seven-Degree-of-Freedom Redundant Robot with Spherical Wrist” Proceedings IEEE Int. Conf. Robotics and Automation 28–36 (1988).Google Scholar
20.Ben-Israel, A. and Greville, T.N.E., Generalized Inverses: Theory and Applications (John Wiley and Sons, New York, 1974).Google Scholar
21.Sprînceanaˇ, N. and Ivaˇnescu, M., “Optimal Control of Manipulator Arm” Proc. llth ISIR 739–746 (1981).Google Scholar
22.Hsu, P. et al. “Dynamic Control of Redundant Manipulators” Proceedings of IEEE International Conference Robotics and Automation183–187 (1988).CrossRefGoogle Scholar
23.Chen, I., Chen, T.C. and Saha, H., “A Strategy for Driving Inverse Kinematics for a Seven-Axis Manipulator Arm” Proc. Seventh Southeastern Symposium Systems Theory (1985).Google Scholar
24.Hemami, A., “On a Human-Arm-Like Mechanical Manipulator” Robotica 5, No. 1, 23–28 (1987).CrossRefGoogle Scholar
25.Hemami, A., “An approach to the Kinematic Solutions for Redundant Arms” Proceedings of the 7th International Congress of Cybernetics and Systems 1, 214–223 (1987).Google Scholar
26.Hemami, A., “On the Control of Redundant Robot Arms” Proceedings Robots 12/Vision 88 Conference4–25 to 4–34 (1988).Google Scholar
27.Huston, R.L. and King, T.P., “Dynamics of Redundant Robots-Inverse Solutions” Robotica 4, No. 4, 263–267 (1986).CrossRefGoogle Scholar
28.Whitney, D.E., “Resolved Motion Rate Control of Manipulators and Human Prosthesis” IEEE Trans. Man-Machine Systems MMS-10, 47–53 (1969).CrossRefGoogle Scholar