著者

妻木 勇一 小寺 真司 ネンチェフ D.N. 内山 勝

出版者

The Robotics Society of Japan

雑誌

日本ロボット学会誌 (ISSN:02891824)

巻号頁・発行日

vol.16, no.2, pp.195-204, 1998-03-15 (Released:2010-08-25)

参考文献数

19

被引用文献数

1

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In our previous work we proposed two approaches to singularity treatment: one is based on a null space notation, and the other on an adjoint Jacobian. We call these approaches as the singularity-consistent approach. Both meth-ods guarantee the direction of motion in the whole work space, without producing an infeasible joint velocity. The performance has been experimentally verified with 3-DOF manipulators. In this paper, we apply the method to a real telerobot system with a non-redundant 6-DOF manipulator as the slave. We analyze the velocity relation at the singularities of this manipulator, and discuss several important implementation issues. The experimental results show that the 6-DOF manipulator can be operated safely with feasible joint velocity and without any error in the direction of motion.

著者

馬 書根 ネンチェフ D.

出版者

The Robotics Society of Japan

雑誌

日本ロボット学会誌 (ISSN:02891824)

巻号頁・発行日

vol.13, no.5, pp.704-710, 1995-07-15

被引用文献数

6 3

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This paper presents an efficient control approach for redundant manipulators using a torque-based formulation. First, the manipulator with redundant degrees of freedom is decomposed into several non-redundant subsystems. Then, each of these subsystems is analyzed for the conditioning of the respective Jacobian matrix, considering the dynamic performance. Thus a set of possible solutions is constructed. Further on, the formulation of the proposed redundancy resolution control is realized using the relation between the joint torque and the given end-effector acceleration (<i>torque-based formulation</i>). The approach is suitable for parallel processing, and real-time dynamic redundancy control of redundant manipulators is possible. Numerical simulations have been performed to show the effectiveness.