Solving kinematic redundancy with impedance control: a class of integrable pseudoinverses

Ferdinando A. Mussa-Ivadi*, Neville Hogan

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Scopus citations

Abstract

Problems arising when kinematically redundant manipulators are controlled using the Jacobian pseudoinverse are related to the nonintegrability of the standard pseudoinverse. The authors present a class of pseudoinverses which have the property of being integrable within any simply connected, nonsingular region of the workspace. Integrability is obtained by deriving the equations which describe an externally imposed motion with the hypothesis that a compliance function is associated with each degree of freedom of the manipulator. The result is a weighted pseudoinverse containing a term which accounts for the nonlinear features of the forward kinematics. The relation of this integrable pseudoinverse to the standard Moore-Penrose and weighted pseudoinverses are discussed.

Original languageEnglish (US)
Title of host publicationIEEE Int Conf Rob Autom 1989
Editors Anon
PublisherPubl by IEEE
Pages283-288
Number of pages6
StatePublished - Dec 1 1989
EventIEEE International Conference on Robotics and Automation - 1989 - Scottsdale, AZ, USA
Duration: May 14 1989May 19 1989

Other

OtherIEEE International Conference on Robotics and Automation - 1989
CityScottsdale, AZ, USA
Period5/14/895/19/89

ASJC Scopus subject areas

  • Engineering(all)

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