Dynamic Performance as a Criterion for RedundantManipulator Control 2004-2

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1、DynamicPerformanceasaCriterionforRedundantManipulatorControlSeanHarmeyerAlanBowlingDept.ofAerospaceandMechanicalEngineeringDept.ofAerospaceandMechancialEngineeringUniversityofNotreDameUniversityofNotreDameNotreDame,INNotreDame,INEmail:sharmeye@nd.edu

2、Email:abowling@nd.eduAbstract—Kinematicallyredundantmanipulatorshavejoints[7]singularitiescanbeovercome,whileotherat-beenproventooffercertainadvantagesovermoreheavilytemptstousethenullspace[8]topreventsingularitiesconstrainedsystems.Onesuchadvantagei

3、stheextradegrees-havemetwithsuccess,includingapplyingasimilarmethodof-freedomcanbeusedforothertaskssuchasmaintainingwhichincludesgradient-basedsingularityavoidance[9].aposturewhichaffordshigheraccelerationcapabilityinthedirectionofthedesiredmotion.Ho

4、wevercertainissuesariseAdditionally,attemptshavebeenmadetomaketheJa-whenconsideringthecontrolofthesemechanismsduetocobiansquare(andthereforeinvertible)byaddingnullthelackofinvertabilityoftherectangularJacobianmatrix.spacevectorstotherowsoftheJacobian

5、toremovetheHerethisissueisaddressedbyaugmentingtherectangularrectangularity[10],andalsoinanattempttoimprovetheJacobianwithacharacterizationofthenullspacemotions.repeatabilityofthecontroller[11].Thisapproachallowsforagradient-basedcontrolscheme,basedu

6、pontheDynamicCapabilityEquations,toincreaseorIntheworkpresentedheretheJacobiannullspaceismaintainthelocalperformancecapabilityofamanipulatorasusedtomaintaintheaccelerationcapabilityoftheend-itperformssometask.Simulationresultsoftheapplicationofeffect

7、orinaparticulardirection.Thuswhileinmotionthiscontrolschemetoasixdegree-of-freedom(DOF)planarthemanipulatoradjustsitsposturetoinsurethatitcanmanipulatoraregiventoillustratethecontrol'sadvantagescontinuemovinginthedesireddirectionbymaintainingonahighl

8、yredundantsystem.ahighaccelerationcapabilityinthatdirection.Singular-I.INTRODUCTIONityavoidanceisalsoaninherentfeatureofthisbrandThegoalofthispaperistodefineaformofnullspaceofnullspacecontrol,becauseencounteringsingularitiescontrolwhichutilizeskinemat