| タイトル | Kinematic functions for redundancy resolution using configuration control |
| 本文（外部サイト） | http://hdl.handle.net/2060/19940025001 |
| 著者（英） | Seraji, Homayoun |
| 著者所属（英） | Jet Propulsion Lab., California Inst. of Tech.; NASA Pasadena Office |
| 発行日 | 1994-03-15 |
| 言語 | eng |
| 内容記述 | The invention fulfills new goals for redundancy resolution based on manipulator dynamics and end-effector characteristics. These goals are accomplished by employing the recently developed configuration control approach. Redundancy resolution is achieved by controlling the joint inertia matrix of the end-effector mass matrix that affect the inertial torques or by reducing the joint torques due to gravity loading and payload. The manipulator mechanical-advantage and velocity-ratio are also used as performance measures to be improved by proper utilization of redundancy. Furthermore, end-effector compliance, sensitivity, and impulsive force at impact are introduced as redundancy resolution criteria. The new goals for redundancy resolution allow a more efficient utilization of the redundant joints based on the desired task requirements. |
| NASA分類 | CYBERNETICS |
| レポートNO | 94N29504 |
| 権利 | No Copyright |
|
