The invention fulfills new goals for redundancy resolution based on manipulator dynamics and end-effector characteristics. These goals are accomplished by employing the recently developed configuration control approach. Redundancy resolution is achieved by controlling the joint inertia matrix of the end-effector mass matrix that affect the inertial torques or by reducing the joint torques due to gravity loading and payload. The manipulator mechanical-advantage and velocity-ratio are also used as performance measures to be improved by proper utilization of redundancy. Furthermore, end-effector compliance, sensitivity, and impulsive force at impact are introduced as redundancy resolution criteria. The new goals for redundancy resolution allow a more efficient utilization of the redundant joints based on the desired task requirements.


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    Title :

    Kinematic functions for redundancy resolution using configuration control


    Contributors:

    Publication date :

    1994-03-15


    Type of media :

    Miscellaneous


    Type of material :

    No indication


    Language :

    English


    Keywords :


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