Dynamical Resolution of Redundancy for Robot Manipulators

[+] Author and Article Information
A. Ghosal

Department of Mechanical Engineering, Indian Institute of Science, Bangalore-560012, India

S. Desa

Department of Mechanical Engineering, Carnegie-Mellon University, Pittsburgh, PA 15213

J. Mech. Des 115(3), 592-598 (Sep 01, 1993) (7 pages) doi:10.1115/1.2919231 History: Received March 01, 1990; Revised August 01, 1991; Online June 02, 2008


A large class of work in the robot manipulator literature deals with the kinematical resolution of redundancy based on the pseudo-inverse of the manipulator Jacobian. In this paper an alternative dynamical approach to redundancy resolution is developed which utilizes the mapping between the actuator torques and the acceleration of the end-effector, at a given dynamic state of the manipulator. The potential advantages of the approach are discussed and an example of a planar 3R manipulator following a circular end-effector trajectory is used to illustrate the proposed approach as well as to compare it with the more well-known approach based on the pseudo-inverse.

Copyright © 1993 by The American Society of Mechanical Engineers
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