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Kinematic control of redundant robot manipulators: A tutorial

✍ Scribed by Bruno Siciliano

Publisher
Springer Netherlands
Year
1990
Tongue
English
Weight
752 KB
Volume
3
Category
Article
ISSN
0921-0296

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✦ Synopsis

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.

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