By Topic

Optimal rate allocation in kinematically-redundant manipulators-the dual projection method

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)
Huang, M.Z. ; Dept. of Mech. Eng., Florida Atlantic Univ., Boca Raton, FL, USA ; Varma, H.

A coordination algorithm for optimal solution of the rate allocation problem in kinematically redundant manipulators is presented. This solution follows from exploring the projection properties of orthogonal surfaces characterized by the velocity kinematics of the redundant system. It is shown that, using the dual projection theorems between the row and the null spaces to be derived, a commonly used, general solution can be reformulated into a computationally efficient form. This method, known as the dual projection method, offers an equivalent but more efficient alternative to the conventional pseudo-inverse based, gradient projection technique, and is applicable to any linear systems with redundancy. To demonstrate its effectiveness, an analytic example using a spatial manipulator with one degree of redundancy is presented. Discussions of computational efficiency based on numbers of arithmetic operations are included

Published in:

Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on

Date of Conference:

9-11 Apr 1991