Method and apparatus for controlling the motion of a redundancy

Details Method and apparatus for controlling the motion of a redundancy Method and apparatus for controlling the motion of a redundancy

1996-10-09

1998-07-14

Davis, George B.

Electricity: motive power systems

Motor-reversing

Armature or primary circuit control

395 80, 395 87, 31856822, G05B 1300, G05B 1302

Patent

active

057817057

ABSTRACT:
A method and apparatus for controlling the motion of a redundancy manipulator in which the redundancy manipulator has at least seven axes. The optimal estimate function is calculated for the target posture among an infinite number of (possible) elbow postures of the redundancy manipulator to ensure that the elbow reaches its target position at least before the hand position or posture values reaches its targeted value. The elbow posture of said redundancy manipulator is controlled based on the estimate function K.

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Seraji et al, "Motion Control of 7-DOF Arms: The Configuration Control Approach", IEEE Transactions on Robotics and Automation, vol. 9, No. 2, Apr. 1993.
Chan e al., "Generation of Joint Trajectory Requiring Lower Joint Velocities for a Redundant Manipulator", IEEE Inter. Conf. on Advanced Robotics, 1992.
Dubey et al, "Real-Tme Implementation of an Optimization Scheme for Seven-Degree-of-Freedom Redundant Manipulators", IEEE Transactions on Robotics and Automation, vol. 7, No. 5, Oct. 1991.

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