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Resolving redundant manipulator joint rates and identifying special arm configurations using Jacobian null-space bases

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3 Author(s)
Podhorodeski, R.P. ; Dept. of Mech. Eng., Victoria Univ., BC, Canada ; Goldenberg, A.A. ; Fenton, R.G.

Joint rate solutions for redundant manipulators are formulated in terms of a particular solution and a homogeneous solution formed using a basis for the Jacobian null space. Solutions for several local optimization objectives are formulated in terms of Jacobian null-space bases. A method based on a decomposition of screw coordinates is presented for finding null-space bases and particular solutions. The screw decomposition is applied in the derivation of the analytical expressions for the null-space bases and in the identification of special configurations for a seven-revolute manipulator. The analysis is then extended to multiple-arm systems with common degrees of freedom, and is applied to an analytical example involving industrial manipulators mounted on a common platform

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Robotics and Automation, IEEE Transactions on  (Volume:7 ,  Issue: 5 )