“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.

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
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  title={{Dynamic Control of Kinematically Redundant Robotic Manipulators}},
  author={Lunde, Erling and Egeland, Olav and Balchen, Jens G.},
  journal={Modeling, Identification and Control},
  publisher={Norwegian Society of Automatic Control}