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Kinematic control of planar redundant manipulators by extended motion distribution scheme

Published online by Cambridge University Press:  09 March 2009

W. J. Chung ,
W. K. Chung  and
Y. Youm
W. J. Chung
Affiliation:
Mechanical Engineering Department, Pohang Institute of Science and Technology, P. O. Box 125, Pohang 790–600 (Korea)
W. K. Chung
Affiliation:
Mechanical Engineering Department, Pohang Institute of Science and Technology, P. O. Box 125, Pohang 790–600 (Korea)
Y. Youm
Affiliation:
Mechanical Engineering Department, Pohang Institute of Science and Technology, P. O. Box 125, Pohang 790–600 (Korea)
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Summary

The kinematic control of a planar manipulator with several-degrees of redundancy has been a difficult problem because of the heavy computational burden and/or lack of appropriate techniques. The extended motion distribution scheme, which is based on decomposing a planar redundant manipulator into a series of nonredundant/redundant local arms (referred to as subarms) and distributing the motion of an end-effector to subarms at the joint velocity level, is proposed in this paper. The configuration index, which is defined as the product of minors corresponding to subarms in the Jacobian matrix, is used to globally guide the redundant manipulators. To enhance the performance of the proposed scheme, a self-motion control, which handles the internal joint motion that does not contribute to the end-effector motion, can be used optionally to guarantee globally optimal manipulation. The repeatability problem for the redundant manipulators is discussed using the proposed scheme. The results of computer simulations are shown and analyzed in detail for planar 8-DOF and 9-DOF manipulators, as examples.

Keywords

Kinematic controlPlanar manipulatorsDistribution schemeConfiguration index
Type
Article
Information
Robotica , Volume 10 , Issue 3 , May 1992 , pp. 255 - 262
Copyright
Copyright © Cambridge University Press 1992

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