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“Dynamic Control of Kinematically Redundant Robotic Manipulators”

Authors: Erling Lunde, Olav Egeland and Jens G. Balchen,
Affiliation: NTNU, Department of Engineering Cybernetics
Reference: 1987, Vol 8, No 3, pp. 159-174.

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Keywords: Robotics, kinematically redundant manipulators, non-linear control, optimal control

Abstract: Several methods for task space control of kinematically redundant manipulators have been proposed in the literature. Most of these methods are based on a kinematic analysis of the manipulator. In this paper we propose a control algorithm in which we are especially concerned with the manipulator dynamics. The algorithm is particularly well suited for the class of redundant manipulators consisting of a relatively small manipulator mounted on a larger positioning part.

PDF PDF (1523 Kb)        DOI: 10.4173/mic.1987.3.4



DOI forward links to this article:
  [1] Morten Breivik and Gunnar Sand (2009), doi:10.4173/mic.2009.3.2
  [2] Erling Lunde and Jens G. Balchen (1988), doi:10.4173/mic.1988.4.4
  [3] Jang Myung Lee (1998), doi:10.1007/BF02945724


References:
[1] ATHANS, M. FALB, P. (1966). Optimal Control, McGraw-Hill, New York, pp. 750-813.
[2] BAILLIEUL, J. (1985). Kinematic programming alternatives for redundant manipulators, Proc. IEEE Int. Conf on Robotics and Automation, St. Loins, Missouri, pp. 722-728.
[3] BEJCZY, A.K. (1974). Robot arm dynamics and control, JPL Technical Memo, 33-669.
[4] BEN-ISRAEL, A. GREVILLE, T.N.E. (1974). Generalized Inverses: Theory and Applications, Wiley, New York, pp. 7-25.
[5] EGELAND, O. (1987). Cartesian Control of Industrial Robots with Redundant Degrees of Freedom, Doctoral dissertation. The Norwegian Institute of Technology, Trondheim.
[6] HOLLERBACH, J.M. SUH, K.C. (1985). Redundancy resolution through torque optimization, Proc. IEEE Int. Conf on Robotics and Automation, St. Louis, Missouri, pp. 323-328.
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[9] KLEIN, C.A. HUANG, C.-H. (1983). Review of pseudoinverse control for use with kinematically redundant manipulators, IEEE Trans. Systems, Man and Cybernetics, 13, 245-250.
[10] LIEGEOIS, A. (1977). Automatic supervisory control of the configuration and behaviour of multibody mechanisms, IEEE Trans. on Systems, Man and Cybernetics, 7, 868-871 doi:10.1109/TSMC.1977.4309644
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[14] SALISBURY, J.K. ABRAMOVITZ, J.D. (1985). Design and control of a redundant mechanism for small motion, Proc. IEEE Int. Conf on Robotics and Automation, St. Louis, Missouri, pp. 1016-1021.
[15] YOSHIKAWA, T. (1985). Manipulability and redundancy of robotic mechanisms, Proc. IEEE Int. Conf on Robotics and Automation, St. Louis, Missouri, pp. 1004-1009.


BibTeX:
@article{MIC-1987-3-4,
  title={{Dynamic Control of Kinematically Redundant Robotic Manipulators}},
  author={Lunde, Erling and Egeland, Olav and Balchen, Jens G.},
  journal={Modeling, Identification and Control},
  volume={8},
  number={3},
  pages={159--174},
  year={1987},
  doi={10.4173/mic.1987.3.4},
  publisher={Norwegian Society of Automatic Control}
};

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