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.


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    Title :

    Singularity-robustness and task-prioritization in configuration control of redundant robots


    Contributors:
    Seraji, H. (author) / Colbaugh, R. (author)

    Conference:

    IEEE Conference on Decision and Control ; 1990 ; Honolulu, HI, United States


    Publication date :

    1990-01-01


    Type of media :

    Conference paper


    Type of material :

    No indication


    Language :

    English


    Keywords :


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