A task space redundancy based scheme for motion planning

被引:0
|
作者
Chen, YX [1 ]
McInroy, JE [1 ]
机构
[1] Penn State Univ, Dept Comp Sci & Engn, University Pk, PA 16802 USA
来源
PROCEEDINGS OF THE 2003 AMERICAN CONTROL CONFERENCE, VOLS 1-6 | 2003年
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中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
In many applications, the manipulations require only part of the degrees of freedom (DOFs) of the end-effector, or some DOFs are more important than the rest. We name these applications prioritized manipulations. The end-effector's DOFs are divided into those which are critical and must be controlled as precisely as possible, and those which have loose specifications, so their tracking performance can be traded-off to achieve other needs. In this paper, we derive a formulation for partitioning the task space into major and secondary task directions and finding the velocity and static force mappings that precisely accomplish the major task and locally optimize some secondary goals. The techniques are tested on a 6-DOF parallel robot performing a 2-DOF tracking task.
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页码:3435 / 3441
页数:7
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