Abstract
This paper presents kinematic algorithms for resolved-rate based inverse kinematics of redundant manipulators. Efficient and robust Jacobian and weighted damped least squares algorithms are given which provide a method that allows full utilization of the redundancy to best achieve task requirements. A nominal set of task space variables is suggested and procedures for modifying this specification or their relative priorities due to changing task requirements or events are discussed. Examples are shown using a simulation of the seven degree-of-freeom Robotics Research manipulator. These simulations demonstrate the singularity robustness of the algorithms and the ability to smoothly transition between task parameterizations and relative priorities.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
