The Extended Task Space Control approach to robotic operations based on manipulator behaviors derived from task requirements is described. No differentiation between redundant and non-redundant robots is made at the task level. The manipulation task behaviors are combined into a single set of motion commands. The manipulator kinematics are used subsequently in mapping motion commands into actuator commands. Extended Task Space Control is applied to a Robotics Research K-1207 seven degree-of-freedom manipulator in a supervisory telerobot system as an example.


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    Title :

    Redundant arm control in a supervisory and shared control system


    Contributors:

    Publication date :

    1992-03-01


    Type of media :

    Conference paper


    Type of material :

    No indication


    Language :

    English