KINEMATIC CONTROL OF REDUNDANT ROBOT MANIPULATORS - A TUTORIAL

被引：423

作者：

SICILIANO, B ^{[1
]}

机构：

[1] UNIV NAPOLI FEDERICO II, DIPARTIMENTO INFORMAT & SISTEMIST, I-80125 NAPLES, ITALY

来源：

JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS | 1990年 / 3卷 / 03期

关键词：

REDUNDANT MANIPULATORS; ROBOT KINEMATIC CONTROL; SINGULARITIES; PSEUDOINVERSES; OPTIMIZATION METHODS; PROJECTION OPERATORS;

D O I：

10.1007/BF00126069

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

In this paper, we present a tentatively comprehensive tutorial report of the most recent literature on kinematic control of redundant robot manipulators. Our goal is to lend some perspective to the most widely adopted on-line instantaneous control solutions, namely those based on the simple manipulator's Jacobian, those based on the local optimization of objective functions in the null space of the Jacobian, those based on the task space augmentation by additional constraint tasks (with task priority), and those based on the construction of inverse kinematic functions.

引用

页码：201 / 212

页数：12

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