NDLI: A varied weights method for the kinematic control of redundant manipulators with multiple constraints

Content Provider	IEEE Xplore Digital Library
Author	Xiang Ji Zhong Congwei Wei Wei
Copyright Year	2011
Description	Author affiliation: Department of System Science and Engineering, College of Electrical Engineering, Zhejiang University, China (Xiang Ji; Zhong Congwei; Wei Wei)
Abstract	This paper proposes a varied weights (VW) method for the kinematic control of redundant manipulators with multiple constraints. Each constraint has a varied weight factor to reflect its transition from the inactive state to the active state. At every control loop, only the main task and the active constraint subtasks are considered. A new concept of effective singular value is presented for the design of the damping factor to avoid the pseudo-singularity due to the transition of weight factors. The experiments on the seven-degree-of-freedom Ping-Pong manipulator illustrate the efficacy of the proposed VW method.
Starting Page	4040
Ending Page	4045
File Size	277454
Page Count	6
File Format	PDF
ISBN	9781457706776
ISSN	21612927
e-ISBN	9789881725592
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-07-22
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Chinese Assoc of Automati
Subject Keyword	Jacobian matrices Damping Effective Singular Value Kinematic Control Null space Kinematics Manipulators Multiple Constraints Trajectory Varied Weights (VW) Method Joints Redundant Manipulators
Content Type	Text
Resource Type	Article

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A varied weights method for the kinematic control of redundant manipulators with multiple constraints