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.
Kinematic Control of Redundant Robot Manipulators - A Tutorial / Siciliano, Bruno. - In: JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS. - ISSN 0921-0296. - STAMPA. - 3:(1990), pp. 201-212. [10.1007/BF00126069]
Kinematic Control of Redundant Robot Manipulators - A Tutorial
SICILIANO, BRUNO
1990
Abstract
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.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.