Redundancy offers a potential over nonredundancy in robot design and control in terms of greater motion/force manipulability. The solution to the kinematic control problem is crucial for an effective use of redundancy. The redundant degrees-of-freedom's can be used to meet additional motion/force constraints, such as dexterity, task compatibility, obstacle avoidance, and limited joint range. The augmented task space approach is adopted and a recently established computational method to solve the constrained inverse kinematic problem is proposed. A case study for a snake-like robot operating in a constrained environment is developed and simulation results are included.
On the use of redundancy in robot kinematic control.
CHIACCHIO, Pasquale
1988-01-01
Abstract
Redundancy offers a potential over nonredundancy in robot design and control in terms of greater motion/force manipulability. The solution to the kinematic control problem is crucial for an effective use of redundancy. The redundant degrees-of-freedom's can be used to meet additional motion/force constraints, such as dexterity, task compatibility, obstacle avoidance, and limited joint range. The augmented task space approach is adopted and a recently established computational method to solve the constrained inverse kinematic problem is proposed. A case study for a snake-like robot operating in a constrained environment is developed and simulation results are included.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
