By Topic

Control of redundant manipulators for task compatibility

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

1 Author(s)
Chiu, S. ; Rockwell International Science Center, Thousand Oaks, CA

When called upon to perform a manipulation task, through experience we place our arm in a posture which is best suited for performing that task. Posture variation is a means through which the motion and strength characteristic of the arm is made compatible with the task requirements. We propose an index for measuring the compatibility of an arm posture with respect to fine manipulation tasks, where accurate control of small velocity and force is required, and coarse manipulation tasks, where exertion of large velocity and force is required. The optimization of this index presents an effective way of utilizing manipulator redundancy. The resultant manipulator postures closely resemble those used by humans in performing similar tasks.

Published in:

Robotics and Automation. Proceedings. 1987 IEEE International Conference on  (Volume:4 )

Date of Conference:

Mar 1987