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Review of pseudoinverse control for use with kinematically redundant manipulators

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2 Author(s)
Charles A. Klein ; Department of Electrical Engineering, The Ohio State University, 2015 Neil Avenue, Columbus, OH 43210 ; Ching-Hsiang Huang

Kinematically redundant manipulators have a number of potential advantages over current manipulator designs. For this type of arm, velocity control through pseudoinverses is suggested. Questions associated with pseudoinverse control are examined in detail and show that in some cases this control leads to undesired arm configurations. A method for distributing joint angles of a redundant arm in a good approximation to a true minimax criterion is described. In addition several numerical considerations are discussed.

Published in:

IEEE Transactions on Systems, Man, and Cybernetics  (Volume:SMC-13 ,  Issue: 2 )