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  • Articles  (2)
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  • Redundant manipulators  (2)
  • Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics  (2)
  • Economics
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  • Articles  (2)
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  • Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics  (2)
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  • Computer Science  (2)
  • 1
    Electronic Resource
    Electronic Resource
    Task-directed inverse kinematics for redundant manipulators (1992)
    Springer
    Journal of intelligent and robotic systems 6 (1992), S. 241-261 
    Details
    ISSN: 1573-0409
    Keywords: Redundant manipulators ; kinematics ; inverse kinematics ; algorithms ; redundancy resolution
    Source: Springer Online Journal Archives 1860-2000
    Topics: Computer Science , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
    Notes: Abstract This paper presents kinematic algorithms for resolved-rate based inverse kinematics of redundant manipulators. Efficient and robust Jacobian and weighted damped least squares algorithms are given which provide a method that allows full utilization of the redundancy to best achieve task requirements. A nominal set of task space variables is suggested and procedures for modifying this specification or their relative priorities due to changing task requirements or events are discussed. Examples are shown using a simulation of the seven degree-of-freeom Robotics Research manipulator. These simulations demonstrate the singularity robustness of the algorithms and the ability to smoothly transition between task parameterizations and relative priorities.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1007/BF00248018
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    Paper (German National Licenses)
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  • 2
    Electronic Resource
    Electronic Resource
    Extended impedance control using real and virtual sensors for redundant manipulators (1995)
    Springer
    Journal of intelligent and robotic systems 14 (1995), S. 89-103 
    Details
    ISSN: 1573-0409
    Keywords: Redundant manipulators ; impedance control ; force control ; sensor fusion ; supervised autonomy ; task space
    Source: Springer Online Journal Archives 1860-2000
    Topics: Computer Science , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
    Notes: Abstract Control of a redundant manipulator based on an impedance-control framework with multiple simultaneous control sources is described. Each control source provides a different behavior type. An application is decomposed into multiple simultaneous behaviors whose resultant behavior will provide the motion necessary to execute the task. The simultaneous control inputs are merged using impedance control to compute a resultant command to the manipulator. The task space of each behavior can have the dimensionality of the mechanism being controlled. Control of a seven-degree-of-freedom manipulator is described here with an available task space for each behavior of dimensionality seven.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1007/BF01254009
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    Paper (German National Licenses)
    Fulltext
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