Kinematic control of redundant manipulators via the gradient projection method

被引：0
|
作者：
Allotta, B [1 ]
Bioli, G [1 ]
Colla, V [1 ]
机构：
[1] Scuola Super Sant Anna, ARTS Lab, I-56127 Pisa, Italy
来源：
ROBOT CONTROL 1997, VOLS 1 AND 2 | 1998年
关键词：
redundant manipulators; kinematics; control; nonlinear programming; constraint satisfaction problem;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents a new approach to the kinematic control of redundant arms in presence of constraints on joint velocities and displacements. Starting from the task augmentation via the arm configuration control, a constrained local optimization problem is formulated and solved iteratively by means of the gradient projection method. An implementation example relative to a 7 DOF manipulator is given and experimental results are shown.
引用
收藏
页码：619 / 624
页数：4
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