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Visualization of redundancy resolution for kinematically redundant robots through the Jacobian null space (1992)

Cheatham, John B., Jr. ; Walker, Ian D. ; Chen, Yu-Che

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Publication Date: 2019-06-28

Description: We 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.

Keywords: CYBERNETICS

Type: In: Cooperative intelligent robotics in space III; Proceedings of the Meeting, Boston, MA, Nov. 16-18, 1992 (A93-29101 10-54); p. 229-239.

Format: text

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