机器人
控制(管理)
控制工程
计算机科学
控制理论(社会学)
人工智能
工程类
作者
Homayoun Seraji,Richard Colbaugh
出处
期刊:Journal of Robotic Systems
[Wiley]
日期:1990-12-01
卷期号:7 (6): 897-928
被引量:149
标识
DOI:10.1002/rob.4620070607
摘要
This article presents a singularity-robust task-prioritized reformulation of the configuration control scheme for redundant robot manipulators. This reformulation suppresses large joint velocities near singularities, at the expense of small task trajectory errors. This is achieved by optimally reducing the joint velocities to induce minimal errors in the task performance by modifying the task trajectories. Furthermore, the same framework provides a means for assignment of priorities between the basic task of end-effector motion and the user-defined additional task for utilizing redundancy. This allows automatic relaxation of the additional task constraints in favor of the desired end-effector motion, when both cannot be achieved exactly. The improved configuration control scheme is illustrated for a variety of additional tasks, and extensive simulation results are presented.
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