A study of rate coordination algorithm in serial chain redundant manipulators

Conference Paper · July 1991with1 Read
DOI: 10.1109/ICAR.1991.240386 · Source: IEEE Xplore
Conference: Advanced Robotics, 1991. 'Robots in Unstructured Environments', 91 ICAR., Fifth International Conference on


    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