An approach to modeling a kinematically redundant dual manipulator closed chain system using pseudovelocities [electronic resource].
- Washington, D.C. : United States. Dept. of Energy, 1996. and Oak Ridge, Tenn. : Distributed by the Office of Scientific and Technical Information, U.S. Dept. of Energy.
- Physical Description:
- 8 pages : digital, PDF file
- Additional Creators:
- Oak Ridge National Laboratory, United States. Department of Energy, and United States. Department of Energy. Office of Scientific and Technical Information
- Restrictions on Access:
- Free-to-read Unrestricted online access
- The paper discusses the problem of resolving the kinematic redundancy in the closed chain formed when two redundant manipulators mutually lift a rigid body object. The positional degrees of freedom (DOF) in the closed chain are parameterized by a set of independent variables termed pseudovelocities. Due to the redundancy there are more DOF and thus more pseudovelocities than are required to specify the motion of the held object. The additional ``redundant`` pseudovelocities are used to minimize the distance between the vector of unknown joint velocities and a vector of ``corrective`` joint velocities in a Euclidean norm sense. This leads to an optimal solution for the joint velocities as a linear function of the Cartesian object velocities and the corrective velocities. The problem of determining the corrective velocities to avoid collisions of the links with a wall located in the workspace and to avoid joint range limits is illustrated by an example of two redundant planar revolute joint manipulators mutually lifting a rigid object.
- Published through SciTech Connect., 05/01/1996., "conf-9605146--1", "DE96009761", WAC `96: 2. world automation congress, Montpellier (France), 27-30 May 1996., and Unseren, M.A.
- Funding Information:
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