An Efficient Computation Method for Kinematic Control of Redundant Manipulators

여유 자유도를 갖는 미니퓰레이터의 기구학적 제어를 위한 효율적 계산 방법

A kinematic control for redundant manipulators is consisdered. An efficient computation method is proposed to determine the joint variable solutions for a given Cartesian path of the end effector. In the proposed method, the Jacobian matrix and its pseudoinverse matrix are calculated intermittently only when the errors exceed the prescribed tolerance. Thereby, the computational burdens are greatly reduced, and at the same time, the errors are maintained within a tolerable range. To show the effectiveness of the mehtod, the result of the simulation is provided in which the redundancy of the manipulator is resolved to avoid the singularity.