Motion chaos in the pseudoinverse control of redundant robots

When a manipulator is redundant, it is anticipated that the inverse kinematics admits an infinite number of solutions. Several kinematic control algorithms for redundant manipulators adopt generalized inverse matrices. In this line of thought, the generalized inverse control scheme is tested through experiments that reveal the difficulties that often arise. Motivated by these problems the paper studies kinematics and dynamics of the trajectory planning scheme. The experiment confirms the nonlinear and chaotic performance of the algorithm and gives a deeper insight towards the future development of superior trajectory control systems.

[1]  Stefano Chiaverini,et al.  Singularity-robust task-priority redundancy resolution for real-time kinematic control of robot manipulators , 1997, IEEE Trans. Robotics Autom..

[2]  Bruno Siciliano,et al.  Kinematic control of redundant robot manipulators: A tutorial , 1990, J. Intell. Robotic Syst..

[3]  F.B.M. Duarte,et al.  Redundancy optimization for mechanical manipulators , 1998, AMC'98 - Coimbra. 1998 5th International Workshop on Advanced Motion Control. Proceedings (Cat. No.98TH8354).

[4]  John T. Wen,et al.  A global approach to path planning for redundant manipulators , 1993, [1993] Proceedings IEEE International Conference on Robotics and Automation.

[5]  Won Jee Chung,et al.  Inverse kinematics of planar redundant manipulators via virtual links with configuration index , 1994, J. Field Robotics.

[6]  Keith L. Doty,et al.  A Theory of Generalized Inverses Applied to Robotics , 1993, Int. J. Robotics Res..

[7]  Erdinc Sahin Conkur,et al.  Clarifying the definition of redundancy as used in robotics , 1997, Robotica.

[8]  A. A. Maciejewski,et al.  Repeatable generalized inverse control strategies for kinematically redundant manipulators , 1993, IEEE Trans. Autom. Control..

[9]  吉川 恒夫,et al.  Foundations of robotics : analysis and control , 1990 .

[10]  Charles A. Klein,et al.  Review of pseudoinverse control for use with kinematically redundant manipulators , 1983, IEEE Transactions on Systems, Man, and Cybernetics.

[11]  Yoshihiko Nakamura,et al.  Advanced robotics - redundancy and optimization , 1990 .

[12]  James Theiler,et al.  Estimating fractal dimension , 1990 .