Subtask performance by redundancy resolution for redundant robot manipulators

descriptionPublicationkeyboard_double_arrow_right Article 01 Jun 1988Publisher:Institute of Electrical and Electronics Engineers (IEEE)Journal:IEEE Journal on Robotics and Automation, volume 4, pages 350-354 (issn: 0882-4967,

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Authors: Ian D. Walker; Steven I. Marcus;

doi: 10.1109/56.795

Subtask performance by redundancy resolution for redundant robot manipulators

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Abstract

The problem of selecting joint space trajectories for redundant manipulators is considered. Solutions which allow secondary tasks to be performed by the arm simultaneously with end-effector motions may be selected in a number of ways. An algorithm to accomplish this, by means of conditions on a scalar function of the joint variables, is introduced and analyzed. Problems inherent in schemes involving constraints in configuration space are considered. >

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The University of Texas at Austin
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