Real-time control of redundant robots subject to multiple criteria

被引：0

作者：

Li, LY ^{[1
]}

Gruver, WA ^{[1
]}

Zhang, QX ^{[1
]}

Chen, WH ^{[1
]}

机构：

[1] Simon Fraser Univ, Sch Engn Sci, Intelligent Robot & Mfg Syst Lab, Burnaby, BC V5A 1S6, Canada

来源：

1998 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-4 | 1998年

关键词：

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：

To realize the control of robotic manipulators with redundant degrees of freedom, the concept of the motion optimizability measure is introduced. We derive an optimal solution technique for the inverse kinematics of a redundant robot that achieves real-time control with multiple performance criteria. Using this technique, we propose an efficient method for kinematic control. Experimental results are presented for a 7 dof manipulator.

引用

页码：115 / 120

页数：4

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