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contributor authorC. W. Wampler
contributor authorL. J. Leifer
date accessioned2017-05-08T23:26:55Z
date available2017-05-08T23:26:55Z
date copyrightMarch, 1988
date issued1988
identifier issn0022-0434
identifier otherJDSMAA-26101#31_1.pdf
identifier urihttp://yetl.yabesh.ir/yetl/handle/yetl/103754
description abstractResolved-rate and resolved-acceleration controllers have been proposed for manipulators whose trajectories are determined by real-time sensory feedback. For redundant manipulators, these controllers have been generalized using the pseudoinverse of the manipulator Jacobian. However, near singular configurations, these controllers fail in that they require infeasibly large joint speeds. A damped least-squares reformation of the problem gives approximate inverse kinematic solutions that are free of singularities. Away from singularities the new controllers closely approximate their conventional counterparts; near singular configurations the new controllers remain well-behaved, although the rate of convergence decreases. This paper defines the new controllers and proves their stability. Some aspects of the behavior of the new resolved-rate controller are illustrated in simulations.
publisherThe American Society of Mechanical Engineers (ASME)
titleApplications of Damped Least-Squares Methods to Resolved-Rate and Resolved-Acceleration Control of Manipulators
typeJournal Paper
journal volume110
journal issue1
journal titleJournal of Dynamic Systems, Measurement, and Control
identifier doi10.1115/1.3152644
journal fristpage31
journal lastpage38
identifier eissn1528-9028
treeJournal of Dynamic Systems, Measurement, and Control:;1988:;volume( 110 ):;issue: 001
contenttypeFulltext


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