Developments of two new kinematic control algorithms for redundant manipulators

There are two common methods for kinematic control of redundant manipulators. One is based on the use of the pseudoinverse of manipulator Jacobian matrix and a so-called null space solution to optimize a secondary criterion. The other way is to expand the rectangular Jacobian matrix to a square one...

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Main Author: Gu, Ming Kun.
Other Authors: Wang, Dan Wei
Format: Theses and Dissertations
Language:English
Published: 2009
Subjects:
Online Access:http://hdl.handle.net/10356/19762
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Institution: Nanyang Technological University
Language: English
id sg-ntu-dr.10356-19762
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spelling sg-ntu-dr.10356-197622023-07-04T15:43:17Z Developments of two new kinematic control algorithms for redundant manipulators Gu, Ming Kun. Wang, Dan Wei School of Electrical and Electronic Engineering DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation There are two common methods for kinematic control of redundant manipulators. One is based on the use of the pseudoinverse of manipulator Jacobian matrix and a so-called null space solution to optimize a secondary criterion. The other way is to expand the rectangular Jacobian matrix to a square one by imposing enough additional equality constraints on the manipulator's motion. In most existing methods, there are some limitations. For example, only one secondary criterion or one set of constraints can be considered. Also, the resultant controller might not perform well when the environment configuration becomes more complex. Master of Engineering 2009-12-14T06:34:27Z 2009-12-14T06:34:27Z 1994 1994 Thesis http://hdl.handle.net/10356/19762 en NANYANG TECHNOLOGICAL UNIVERSITY 110 p. application/pdf
institution Nanyang Technological University
building NTU Library
continent Asia
country Singapore
Singapore
content_provider NTU Library
collection DR-NTU
language English
topic DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation
spellingShingle DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation
Gu, Ming Kun.
Developments of two new kinematic control algorithms for redundant manipulators
description There are two common methods for kinematic control of redundant manipulators. One is based on the use of the pseudoinverse of manipulator Jacobian matrix and a so-called null space solution to optimize a secondary criterion. The other way is to expand the rectangular Jacobian matrix to a square one by imposing enough additional equality constraints on the manipulator's motion. In most existing methods, there are some limitations. For example, only one secondary criterion or one set of constraints can be considered. Also, the resultant controller might not perform well when the environment configuration becomes more complex.
author2 Wang, Dan Wei
author_facet Wang, Dan Wei
Gu, Ming Kun.
format Theses and Dissertations
author Gu, Ming Kun.
author_sort Gu, Ming Kun.
title Developments of two new kinematic control algorithms for redundant manipulators
title_short Developments of two new kinematic control algorithms for redundant manipulators
title_full Developments of two new kinematic control algorithms for redundant manipulators
title_fullStr Developments of two new kinematic control algorithms for redundant manipulators
title_full_unstemmed Developments of two new kinematic control algorithms for redundant manipulators
title_sort developments of two new kinematic control algorithms for redundant manipulators
publishDate 2009
url http://hdl.handle.net/10356/19762
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