New insights into input relegation control for inverse kinematics of a redundant manipulator. Part 2, The optimization of a secondary criteria involving self motion of the joints

PDF Version Also Available for Download.

Description

The input relegation control (IRC) technique for redundancy resolution is extended to solve the problem of optimizing a scalar performance criteria representing a secondary objective to be accomplished via self motion of the joints. The criteria is defined to be the error between the vector of joint velocities and a new vector of ``corrective` joint velocities, which is minimized in a Eudidean norm sense. The corrective velocities represent a `corrective` action to be applied to the system and axe projected into the null space of the Jacoblan in the solution for the joint velocities. The report demonstrates that there exists ... continued below

Physical Description

15 p.

Creation Information

Unseren, M.A. July 1, 1995.

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.

Author

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 input relegation control (IRC) technique for redundancy resolution is extended to solve the problem of optimizing a scalar performance criteria representing a secondary objective to be accomplished via self motion of the joints. The criteria is defined to be the error between the vector of joint velocities and a new vector of ``corrective` joint velocities, which is minimized in a Eudidean norm sense. The corrective velocities represent a `corrective` action to be applied to the system and axe projected into the null space of the Jacoblan in the solution for the joint velocities. The report demonstrates that there exists a component in the solution for the joint velocities that induces self motion of the joints but is not a function of the ``corrective action``. A technique for eliminating this undesired component is presented. The method is compared to the well known gradient projection technique and its advantages are discussed.

Physical Description

15 p.

Notes

OSTI as DE95014899

Source

  • Other Information: PBD: Jul 1995

Language

Item Type

Identifier

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

  • Other: DE95014899
  • Report No.: ORNL/TM--12813-Pt.2
  • Grant Number: AC05-84OR21400
  • DOI: 10.2172/89523 | External Link
  • Office of Scientific & Technical Information Report Number: 89523
  • Archival Resource Key: ark:/67531/metadc791885

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

  • July 1, 1995

Added to The UNT Digital Library

  • Dec. 19, 2015, 7:14 p.m.

Description Last Updated

  • Jan. 19, 2016, 8:30 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.

Citations, Rights, Re-Use

Unseren, M.A. New insights into input relegation control for inverse kinematics of a redundant manipulator. Part 2, The optimization of a secondary criteria involving self motion of the joints, report, July 1, 1995; Tennessee. (digital.library.unt.edu/ark:/67531/metadc791885/: accessed November 20, 2017), University of North Texas Libraries, Digital Library, digital.library.unt.edu; crediting UNT Libraries Government Documents Department.