Preliminary results from exploiting redundancy to reduce the execution time of a task space path for a redundant arm are presented. The exploitation is done by properly introducing a suitable constraint in the inverse kinematic problem, which underlies the minimum-time path following control problem. The proposed constraint is to maximize the intersection of the tangent vector to the task space path with the surface of the dynamic manipulability ellipsoid in order to better exploit the acceleration/deceleration capabilities of the arm. Numerical results are presented for a three-degree-of-freedom planar manipulator executing two-dimensional paths which show the effectiveness of the proposed technique.
Exploiting redundancy in minimum-time path following robot control
CHIACCHIO, Pasquale
1990-01-01
Abstract
Preliminary results from exploiting redundancy to reduce the execution time of a task space path for a redundant arm are presented. The exploitation is done by properly introducing a suitable constraint in the inverse kinematic problem, which underlies the minimum-time path following control problem. The proposed constraint is to maximize the intersection of the tangent vector to the task space path with the surface of the dynamic manipulability ellipsoid in order to better exploit the acceleration/deceleration capabilities of the arm. Numerical results are presented for a three-degree-of-freedom planar manipulator executing two-dimensional paths which show the effectiveness of the proposed technique.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
