By Topic

Solving kinematic redundancy with impedance control: a class of integrable pseudoinverses

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)

Problems arising when kinematically redundant manipulators are controlled using the Jacobian pseudoinverse are related to the nonintegrability of the standard pseudoinverse. The authors present a class of pseudoinverse which have the property of being integrable within any simply connected nonsingular region of the workspace. Integrability is obtained by deriving the equations which describe an externally imposed motion with the hypothesis that a compliance function is associated with each degree of freedom of the manipulator. The result is a weighted pseudoinverse containing a term which accounts for the nonlinear features of the forward kinematics. The relation of this integrable pseudoinverse to the standard Moore-Penrose and weighted pseudoinverses are discussed

Published in:

Robotics and Automation, 1989. Proceedings., 1989 IEEE International Conference on

Date of Conference:

14-19 May 1989