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A compact inverse velocity solution for redundant robots

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1 Author(s)
Kumar, V. ; Dept. of Mech. Eng. & Appl. Mech., Pennsylvania Univ., Philadelphia, PA, USA

A compact inverse rate kinematics solution for serial-chain redundant n-jointed robots is presented. The serial-chain inverse rate kinematics problem is dual to the inverse statics problem in in-parallel systems such as cooperating robots, in which the task of distributing the load wrench between multiple subsystems is typically under-specified. Therefore, the method proposed earlier in J.H. Kim and V. Kumar (1991) and V. Kumar (1990) for obtaining the wrench distribution in multirobot systems can be applied to redundant serial-chain manipulators. The solution thus obtained is one in which a weighted-norm of the joint rates vector is minimized. The advantages of this method are the ability to accommodate any type of joint and the availability of analytical, closed-form solutions for the joint rates. A geometric interpretation of the solution is provided using screw system theory

Published in:

Robotics and Automation, 1992. Proceedings., 1992 IEEE International Conference on

Date of Conference:

12-14 May 1992