Conference Paper

A study of rate coordination algorithm in serial chain redundant manipulators

Dept. of Mech. Eng., Florida Atlantic Univ., Boca Raton, FL;
DOI: 10.1109/ICAR.1991.240386 Conference: Advanced Robotics, 1991. 'Robots in Unstructured Environments', 91 ICAR., Fifth International Conference on
Source: IEEE Xplore

ABSTRACT Presents a general algorithm which results in an efficient
solution for the rate coordination problem in redundant manipulators. An
alternative formulation of minimum norm solution is first introduced
based on a geometric interpretation that vectors orthogonal to
constraint space should pass through the origin of the solution space.
It is shown that for any spacial manipulator with 1 or 2 degrees of
redundancy, the minimum norm rate solution can be derived analytically.
The properties of orthogonal vectors are then utilized in formulating
the general solution to incorporate any performance criterion. The
method offers an equivalent but much more efficient alternative to using
the pseudoinverse in redundancy resolution and, in fact, is applicable
to any underdetermined linear system. Analytical as well as numerical
examples are presented to demonstrate the effectiveness of the method