New insights into input relegation control for inverse kinematics of a redundant manipulator. Part 1, On the orthogonality of matrices B and J and comparison to the extended Jacobian method

PDF Version Also Available for Download.

Description

A method for kinematically modeling a constrained rigid body mechanical system and a method for controlling such a system termed input relegation control (IRC) were applied to resolve the kinematic redundancy of a serial link manipulator moving in an open chain configuration in. A set of equations was introduced to define a new vector variable parameterizing the redundant degrees of freedom (DOF) as a linear function of the joint velocities. The new set was combined with the classical kinematic velocity model of manipulator and solved to yield a well specified solution for the joint velocities as a function of the ... continued below

Physical Description

19 p.

Creation Information

Unseren, M.A. & Reister, D.B. 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.

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

A method for kinematically modeling a constrained rigid body mechanical system and a method for controlling such a system termed input relegation control (IRC) were applied to resolve the kinematic redundancy of a serial link manipulator moving in an open chain configuration in. A set of equations was introduced to define a new vector variable parameterizing the redundant degrees of freedom (DOF) as a linear function of the joint velocities. The new set was combined with the classical kinematic velocity model of manipulator and solved to yield a well specified solution for the joint velocities as a function of the Cartesian velocities of the end effector and of the redundant DOF variable. In the previous work a technique was proposed for selecting the matrix relating the redundant DOF variable to the joint velocities which resulted in it rows being orthogonal to the rows of the Jacobian matrix. The implications for such a selection were not discussed in. In Part 1 of this report a basis for the joint space is suggested which provides considerable insight into why picking the aforementioned matrix to be orthogonal to the Jacobian is advantageous. A second objective of Part 1 is to compare the IRC method to the Extended Jacobian method of Baillieul and Martin and other related methods.

Physical Description

19 p.

Notes

OSTI as DE95014347

Source

  • Other Information: PBD: Jul 1995

Language

Item Type

Identifier

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

  • Other: DE95014347
  • Report No.: ORNL/TM--12813-Pt.1
  • Grant Number: AC05-84OR21400
  • DOI: 10.2172/91980 | External Link
  • Office of Scientific & Technical Information Report Number: 91980
  • Archival Resource Key: ark:/67531/metadc791921

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: 1

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. & Reister, D.B. New insights into input relegation control for inverse kinematics of a redundant manipulator. Part 1, On the orthogonality of matrices B and J and comparison to the extended Jacobian method, report, July 1, 1995; Tennessee. (digital.library.unt.edu/ark:/67531/metadc791921/: accessed December 11, 2017), University of North Texas Libraries, Digital Library, digital.library.unt.edu; crediting UNT Libraries Government Documents Department.