A global approach for using kinematic redundancy to minimize base reactions of manipulators
- Author
- Chung, C. L.
- Published
- Mar 1, 1989.
- Physical Description
- 1 electronic document
- Additional Creators
- Desa, S.
Online Version
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- Restrictions on Access
- Unclassified, Unlimited, Publicly available.
Free-to-read Unrestricted online access - Summary
- An important consideration in the use of manipulators in microgravity environments is the minimization of the base reactions, i.e. the magnitude of the force and the moment exerted by the manipulator on its base as it performs its tasks. One approach which was proposed and implemented is to use the redundant degree of freedom in a kinematically redundant manipulator to plan manipulator trajectories to minimize base reactions. A global approach was developed for minimizing the magnitude of the base reactions for kinematically redundant manipulators which integrates the Partitioned Jacobian method of redundancy resolution, a 4-3-4 joint-trajectory representation and the minimization of a cost function which is the time-integral of the magnitude of the base reactions. The global approach was also compared with a local approach developed earlier for the case of point-to-point motion of a three degree-of-freedom planar manipulator with one redundant degree-of-freedom. The results show that the global approach is more effective in reducing and smoothing the base force while the local approach is superior in reducing the base moment.
- Other Subject(s)
- Collection
- NASA Technical Reports Server (NTRS) Collection.
- Note
- Document ID: 19900016183.
Accession ID: 90N25499.
CMU-RI-TR-89-9.
NASA-CR-186825.
NAS 1.26:186825. - Terms of Use and Reproduction
- Copyright, Distribution under U.S. Government purpose rights.
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