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 language | English (US) |
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| Title of host publication | IEEE Int Conf Rob Autom 1989 |
| Editors | Anon |
| Publisher | Publ by IEEE |
| Pages | 283-288 |
| Number of pages | 6 |
| State | Published - Dec 1 1989 |
| Event | IEEE International Conference on Robotics and Automation - 1989 - Scottsdale, AZ, USA Duration: May 14 1989 → May 19 1989 |
Other
| Other | IEEE International Conference on Robotics and Automation - 1989 |
|---|---|
| City | Scottsdale, AZ, USA |
| Period | 5/14/89 → 5/19/89 |
ASJC Scopus subject areas
- General Engineering