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Kinematically redundant arm formulations for coordinated multiple arm implementations
| Content Provider | NASA Technical Reports Server (NTRS) |
|---|---|
| Author | Bailey, Robert W. Cleghorn, Timothy F. Quiocho, Leslie J. |
| Copyright Year | 1990 |
| Description | Although control laws for kinematically redundant robotic arms were presented as early as 1969, redundant arms have only recently become recognized as viable solutions to limitations inherent to kinematically sufficient arms. The advantages of run-time control optimization and arm reconfiguration are becoming increasingly attractive as the complexity and criticality of robotic systems continues to progress. A generalized control law for a spatial arm with 7 or more degrees of freedom (DOF) based on Whitney's resolved rate formulation is given. Results from a simulation implementation utilizing this control law are presented. Furthermore, results from a two arm simulation are presented to demonstrate the coordinated control of multiple arms using this formulation. |
| File Size | 598402 |
| Page Count | 8 |
| File Format | |
| Alternate Webpage(s) | http://archive.org/details/NASA_NTRS_Archive_19900016235 |
| Archival Resource Key | ark:/13960/t2r54j692 |
| Language | English |
| Publisher Date | 1990-03-01 |
| Access Restriction | Open |
| Subject Keyword | Mechanical Engineering Robot Arms Degrees of Freedom Simulation Kinematics Redundant Components Control Theory Robot Dynamics Robotics Optimization Ntrs Nasa Technical Reports Server (ntrs) Nasa Technical Reports Server Aerodynamics Aircraft Aerospace Engineering Aerospace Aeronautic Space Science |
| Content Type | Text |
| Resource Type | Article |
