Developments of two new kinematic control algorithms for redundant manipulators

• 主要作者: Gu, Ming Kun.
• 其他作者: Wang, Dan Wei
• 格式: Theses and Dissertations
• 語言: English
• 出版: 2009
• 主題: DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation
• 在線閱讀: http://hdl.handle.net/10356/19762
• 機構: Nanyang Technological University

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...