Redundancy Resolution of Robotic Manipulators Using Normalized Generalized Inverses

[+] Author and Article Information
J. T. Wang

Engineering Mechanics Department, General Motors Research & Development Center, Warren, MI 48090-9055

J. Mech. Des 117(3), 454-459 (Sep 01, 1995) (6 pages) doi:10.1115/1.2826700 History: Received March 01, 1991; Revised March 01, 1995; Online December 11, 2007


A dynamical formulation based upon the undetermined force method is presented for analyzing redundant robotic manipulators. The equivalence between this dynamical formulation and the general solution of kinematic constraint equations is then obtained through use of a normalized generalized inverse. This leads to a special form of the dynamical equations, called the N-inverse form of the dynamical equations. A class of problems, associated with the optimization of quadratic objective functions, are then studied. We find that the N-inverse form of the dynamical equations is the solution of this class of problems. Examples, including local minimization of joint torques and global minimization of kinetic energy, are presented.

Copyright © 1995 by The American Society of Mechanical Engineers
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