A comparison of three redundancy resolution methods

PDF Version Also Available for Download.

Description

The report performs an analytical comparison of three redundancy resolution methods developed by researchers at the Oak Ridge National Laboratory that obtain solutions for the joint velocities for a redundant manipulator based on its kinematic velocity model with an (m x n) Jacobian matrix of full rank m(< n): (i) the Input Relegation Control (IRC) Method; the Belmans and Culioli (B and C) method; and an extension of the B and C method termed Full Space Parameterization (FSP). The report is organized as follows: the three methods are reviewed in section 2. The comparison of the IRC and B and ... continued below

Physical Description

25 p.

Creation Information

Unseren, M.A. & Reister, D.B. October 1, 1997.

Context

This report is part of the collection entitled: Office of Scientific & Technical Information Technical Reports and was provided by UNT Libraries Government Documents Department to Digital Library, a digital repository hosted by the UNT Libraries. More information about this report can be viewed below.

Who

People and organizations associated with either the creation of this report or its content.

Sponsor

Publisher

Provided By

UNT Libraries Government Documents Department

Serving as both a federal and a state depository library, the UNT Libraries Government Documents Department maintains millions of items in a variety of formats. The department is a member of the FDLP Content Partnerships Program and an Affiliated Archive of the National Archives.

Contact Us

What

Descriptive information to help identify this report. Follow the links below to find similar items on the Digital Library.

Description

The report performs an analytical comparison of three redundancy resolution methods developed by researchers at the Oak Ridge National Laboratory that obtain solutions for the joint velocities for a redundant manipulator based on its kinematic velocity model with an (m x n) Jacobian matrix of full rank m(< n): (i) the Input Relegation Control (IRC) Method; the Belmans and Culioli (B and C) method; and an extension of the B and C method termed Full Space Parameterization (FSP). The report is organized as follows: the three methods are reviewed in section 2. The comparison of the IRC and B and C methods is presented in section 3. The IRC and FSP methods are compared in section 4. The unification of the B and C and FSP null space parameterizations and joint velocity solution methods is discussed in section 5. Constraint free representations of the B and C and FSP joint velocity solutions are derived in terms of the IRC basis and compared to IRC in Appendix A. A summary and conclusion are provided in the final section.

Physical Description

25 p.

Notes

INIS; OSTI as DE98007036

Source

  • Other Information: PBD: Oct 1997

Language

Item Type

Identifier

Unique identifying numbers for this report in the Digital Library or other systems.

  • Other: DE98007036
  • Report No.: ORNL/TM--13510
  • Grant Number: AC05-96OR22464
  • DOI: 10.2172/631238 | External Link
  • Office of Scientific & Technical Information Report Number: 631238
  • Archival Resource Key: ark:/67531/metadc689862

Collections

This report is part of the following collection of related materials.

Office of Scientific & Technical Information Technical Reports

Reports, articles and other documents harvested from the Office of Scientific and Technical Information.

Office of Scientific and Technical Information (OSTI) is the Department of Energy (DOE) office that collects, preserves, and disseminates DOE-sponsored research and development (R&D) results that are the outcomes of R&D projects or other funded activities at DOE labs and facilities nationwide and grantees at universities and other institutions.

What responsibilities do I have when using this report?

When

Dates and time periods associated with this report.

Creation Date

  • October 1, 1997

Added to The UNT Digital Library

  • Aug. 14, 2015, 8:43 a.m.

Description Last Updated

  • Jan. 15, 2016, 6:13 p.m.

Usage Statistics

When was this report last used?

Yesterday: 0
Past 30 days: 0
Total Uses: 2

Interact With This Report

Here are some suggestions for what to do next.

Start Reading

PDF Version Also Available for Download.

International Image Interoperability Framework

IIF Logo

We support the IIIF Presentation API

Unseren, M.A. & Reister, D.B. A comparison of three redundancy resolution methods, report, October 1, 1997; Tennessee. (digital.library.unt.edu/ark:/67531/metadc689862/: accessed June 25, 2018), University of North Texas Libraries, Digital Library, digital.library.unt.edu; crediting UNT Libraries Government Documents Department.