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ID:40058785
大小:302.98 KB
页数:6页
时间:2019-07-18
《Dynamic Performance as a Criterion for RedundantManipulator Control 2004-2》由会员上传分享,免费在线阅读,更多相关内容在学术论文-天天文库。
1、DynamicPerformanceasaCriterionforRedundantManipulatorControlSeanHarmeyerAlanBowlingDept.ofAerospaceandMechanicalEngineeringDept.ofAerospaceandMechancialEngineeringUniversityofNotreDameUniversityofNotreDameNotreDame,INNotreDame,INEmail:sharmeye@nd.edu
2、Email:abowling@nd.eduAbstract—Kinematicallyredundantmanipulatorshavejoints[7]singularitiescanbeovercome,whileotherat-beenproventooffercertainadvantagesovermoreheavilytemptstousethenullspace[8]topreventsingularitiesconstrainedsystems.Onesuchadvantagei
3、stheextradegrees-havemetwithsuccess,includingapplyingasimilarmethodof-freedomcanbeusedforothertaskssuchasmaintainingwhichincludesgradient-basedsingularityavoidance[9].aposturewhichaffordshigheraccelerationcapabilityinthedirectionofthedesiredmotion.Ho
4、wevercertainissuesariseAdditionally,attemptshavebeenmadetomaketheJa-whenconsideringthecontrolofthesemechanismsduetocobiansquare(andthereforeinvertible)byaddingnullthelackofinvertabilityoftherectangularJacobianmatrix.spacevectorstotherowsoftheJacobian
5、toremovetheHerethisissueisaddressedbyaugmentingtherectangularrectangularity[10],andalsoinanattempttoimprovetheJacobianwithacharacterizationofthenullspacemotions.repeatabilityofthecontroller[11].Thisapproachallowsforagradient-basedcontrolscheme,basedu
6、pontheDynamicCapabilityEquations,toincreaseorIntheworkpresentedheretheJacobiannullspaceismaintainthelocalperformancecapabilityofamanipulatorasusedtomaintaintheaccelerationcapabilityoftheend-itperformssometask.Simulationresultsoftheapplicationofeffect
7、orinaparticulardirection.Thuswhileinmotionthiscontrolschemetoasixdegree-of-freedom(DOF)planarthemanipulatoradjustsitsposturetoinsurethatitcanmanipulatoraregiventoillustratethecontrol'sadvantagescontinuemovinginthedesireddirectionbymaintainingonahighl
8、yredundantsystem.ahighaccelerationcapabilityinthatdirection.Singular-I.INTRODUCTIONityavoidanceisalsoaninherentfeatureofthisbrandThegoalofthispaperistodefineaformofnullspaceofnullspacecontrol,becauseencounteringsingularitiescontrolwhichutilizeskinemat
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