The authors present a singularity-robust task-prioritized reformulation of the configuration control for redundant robot manipulators. This reformation suppresses large joint velocities to induce minimal errors in the task performance by modifying the task trajectories. Furthermore, the same framework provides a means for assignment of priorities between the basic task of end-effector motion and the user-defined additional task for utilizing redundancy. This allows automatic relaxation of the additional task constraints in favor of the desired end-effector motion when both cannot be achieved exactly.
Singularity-robustness and task-prioritization in configuration control of redundant robots
IEEE Conference on Decision and Control ; 1990 ; Honolulu, HI, United States
01.01.1990
Aufsatz (Konferenz)
Keine Angabe
Englisch
Singularity-Consistent Teleoperation Techniques for Redundant Free-Flying Robots
British Library Conference Proceedings | 1999
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