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Constrained trajectory optimization for kinematically redundant arms
| Content Provider | NASA Technical Reports Server (NTRS) |
|---|---|
| Author | Carignan, Craig R. Tarrant, Janice M. |
| Copyright Year | 1990 |
| Description | Two velocity optimization schemes for resolving redundant joint configurations are compared. The Extended Moore-Penrose Technique minimizes the joint velocities and avoids obstacles indirectly by adjoining a cost gradient to the solution. A new method can incorporate inequality constraints directly to avoid obstacles and singularities in the workspace. A four-link arm example is used to illustrate singularity avoidance while tracking desired end-effector paths. |
| File Size | 502761 |
| Page Count | 9 |
| File Format | |
| Alternate Webpage(s) | http://archive.org/details/NASA_NTRS_Archive_19910017213 |
| Archival Resource Key | ark:/13960/t3qv8f51w |
| Language | English |
| Publisher Date | 1990-01-01 |
| Access Restriction | Open |
| Subject Keyword | Mechanical Engineering Robot Arms Degrees of Freedom Joints Junctions Robot Control Lagrange Multipliers Redundancy Kinematics Jacobi Matrix Method End Effectors Robot Dynamics Quadratic Programming Trajectory 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 |
