A solution to the velocity control of redundant robots

Tzafestas, S; Zagorianos, A; Pimenides, T

dc.contributor.author	Tzafestas, S	en
dc.contributor.author	Zagorianos, A	en
dc.contributor.author	Pimenides, T	en
dc.date.accessioned	2014-03-01T01:11:38Z
dc.date.available	2014-03-01T01:11:38Z
dc.date.issued	1996	en
dc.identifier.issn	0378-4754	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/11751
dc.subject	Approximate Solution	en
dc.subject	Closed Form Solution	en
dc.subject	Degree of Freedom	en
dc.subject	Exact Solution	en
dc.subject	Industrial Application	en
dc.subject	Inverse Kinematics	en
dc.subject	Inverse Problem	en
dc.subject	Jacobian Matrix	en
dc.subject.classification	Computer Science, Interdisciplinary Applications	en
dc.subject.classification	Computer Science, Software Engineering	en
dc.subject.classification	Mathematics, Applied	en
dc.subject.other	Approximation theory	en
dc.subject.other	Computer simulation	en
dc.subject.other	Convergence of numerical methods	en
dc.subject.other	Degrees of freedom (mechanics)	en
dc.subject.other	Industrial applications	en
dc.subject.other	Inverse problems	en
dc.subject.other	Iterative methods	en
dc.subject.other	Kinematics	en
dc.subject.other	Manipulators	en
dc.subject.other	Problem solving	en
dc.subject.other	Redundancy	en
dc.subject.other	Velocity control	en
dc.subject.other	Redundant robots	en
dc.subject.other	Wrist orientation	en
dc.subject.other	Wrist position	en
dc.subject.other	Robots	en
dc.title	A solution to the velocity control of redundant robots	en
heal.type	journalArticle	en
heal.identifier.primary	10.1016/0378-4754(95)00070-4	en
heal.identifier.secondary	http://dx.doi.org/10.1016/0378-4754(95)00070-4	en
heal.language	English	en
heal.publicationDate	1996	en
heal.abstract	Flexible and dexterous manipulation of modern industrial applications requires the use of robots with extra (more than six) axes of motion (degrees of freedom). Thus the kinematic and control considerations of redundant robots are currently of increasing interest to both theorists and practitioners. For this type of robots, a closed-form solution of the inverse kinematic problem is not possible, and the classical approach is to use the pseudoinverse of the Jacobian matrix together with an extra criterion function. This paper presents an iterative technique for velocity control, which is suitable for redundant robots with a maximum of 11 d.o.f. This technique, which splits the Jacobian inversion problem into two subproblems (wrist position and wrist orientation), provides an exact solution for the arm tip position and an approximate solution for the wrist orientation. The convergence of the procedure is examined and a simulated example is included.	en
heal.publisher	ELSEVIER SCIENCE BV	en
heal.journalName	Mathematics and Computers in Simulation	en
dc.identifier.doi	10.1016/0378-4754(95)00070-4	en
dc.identifier.isi	ISI:A1996UW30700002	en
dc.identifier.volume	41	en
dc.identifier.issue	3-4	en
dc.identifier.spage	201	en
dc.identifier.epage	208	en