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Unified motion specification and control of kinematically redundant manipulators

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3 Author(s)
Jonghoon Park ; Robotics Lab., Pohang Univ. of Sci. & Technol., South Korea ; Wankyun Chung ; Youngil Youm

The kinematically decoupled joint space decomposition (KD-JSD) is proposed as a systematic method for synthesis of dynamic control of kinematically redundant manipulators. The method leads to a proper control for direct specification and control of the self-motion of kinematically redundant manipulators, as well as the task motion. To cover various possibilities in specifying desired self-motion behaviors the conventional gradient projection method and task priority based method are reformulated within the framework of the KD-JSD. The validity of the proposed control method is shown experimentally adopting a three degrees-of-freedom direct-drive planar redundant manipulator

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Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on  (Volume:4 )

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