Affiliation:
1. Department of Mechanical Engineering École Polytechnique de Montréal P.O. 6079, station Centre-Ville Montréal, Québec, Canada, H3C 3A7
Abstract
This paper introduces the concept of functional redundancy of serial manipulators, and presents a new resolution scheme to solve such redundant robotic tasks requiring less than six degrees-of-freedom. Instead of projecting the secondary task onto the null space of the Jacobian matrix in order to take advantage of the redundancy, the twist of end-effector is directly decomposes into two orthogonal subspaces where the main and secondary tasks lie, respectively. The algorithm has shown to be computationally efficient and well suited to solve functionally-redundant robotic tasks, such as arc-welding.
Publisher
Canadian Science Publishing
Cited by
19 articles.
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