Feasibility evaluation of dynamically linearized kinematically redundant planar manipulators

The objective of this research is to investigate a promising theoretical development which could lead to advanced manipulator concepts offering fast dynamic and control features. The application of 'dynamic linearization' to open-chain kinematically redundant planar and spatial manipulator towards the end of determining the feasibility of dextrous robots exhibiting both high mechanical and computational speed is investigated. In comparing planar dynamically linearized manipulators with standard nonlinear designs, it is shown that performance advantages and reductions in joint actuator energy consumption can be realized using relatively simple trajectory optimization schemes. Kinematically redundant planar manipulators are shown to outperform their nonredundant counterparts. The results pertaining to planar manipulators only are summarized.<<ETX>>

[1]  A. Liegeois,et al.  Automatic supervisory control of the configuration and behavior of multi-body mechanisms , 1977 .

[2]  Daniel C. H. Yang,et al.  Simplification and Linearization of Manipulator Dynamics by the Design of Inertia Distribution , 1986 .

[3]  Kamal Youcef-Toumi,et al.  High speed trajectory control of a direct-drive manipulator , 1987 .

[4]  M. Vukobratovic,et al.  A Method for Optimal Synthesis of Manipulation Robot Trajectories , 1982 .

[5]  J. Y. S. Luh,et al.  Industrial robots with seven joints , 1985, Proceedings. 1985 IEEE International Conference on Robotics and Automation.

[6]  Bernard Roth,et al.  The Near-Minimum-Time Control Of Open-Loop Articulated Kinematic Chains , 1971 .

[7]  Tsuneo Yoshikawa,et al.  Dynamic manipulability of robot manipulators , 1985, Proceedings. 1985 IEEE International Conference on Robotics and Automation.

[8]  Tsuneo Yoshikawa,et al.  Analysis and Control of Robot Manipulators with Redundancy , 1983 .

[9]  John Baillieul,et al.  Kinematic programming alternatives for redundant manipulators , 1985, Proceedings. 1985 IEEE International Conference on Robotics and Automation.

[10]  Daniel E. Whitney,et al.  Resolved Motion Rate Control of Manipulators and Human Prostheses , 1969 .

[11]  John M. Hollerbach,et al.  Redundancy resolution of manipulators through torque optimization , 1987, IEEE J. Robotics Autom..

[12]  H. Harry Asada,et al.  The Design of Open-Loop Manipulator Arms With Decoupled and Configuration-Invariant Inertia Tensors , 1987 .

[13]  John Baillieul,et al.  A constraint oriented approach to inverse problems for kinematically redundant manipulators , 1987, Proceedings. 1987 IEEE International Conference on Robotics and Automation.

[14]  J. Hollerbach,et al.  Programming and control of kinematically redundant manipulators , 1984, The 23rd IEEE Conference on Decision and Control.

[15]  S. Dubowsky,et al.  Time optimal paths and acceleration lines of robotic manipulators , 1987, 26th IEEE Conference on Decision and Control.

[16]  Miomir Vukobratovic,et al.  A dynamic approach to nominal trajectory synthesis for redundant manipulators , 1984, IEEE Transactions on Systems, Man, and Cybernetics.

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