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The nature of drift in pseudoinverse control of kinematically redundant manipulators

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2 Author(s)
Klein, C.A. ; Dept. of Electr. Eng., Ohio State Univ., Columbus, OH, USA ; Kee, K.-B.

The control of kinematically redundant manipulators using only pseudoinverse control is known to produce drift in joint space when a cyclic task is performed in rectilinear space. The properties of this drift are examined by performing numerical experiments. This drift has predictable properties including a numerically stable limit in some situations. At this limit the arc length of the path in joint space appears to be near a minimum

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Robotics and Automation, IEEE Transactions on  (Volume:5 ,  Issue: 2 )