Developments of two new kinematic control algorithms for redundant manipulators

• Main Author: Gu, Ming Kun.
• Other Authors: Wang, Dan Wei
• Format: Theses and Dissertations
• Language: English
• Published: 2009
• Subjects: DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation
• Online Access: http://hdl.handle.net/10356/19762
• Institution: 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...