Name
Title | ||
|---|---|---|
A Varied Weights Method for the Kinematic Control of Redundant Manipulators With Multiple Constraints |
Abstract | ||
|---|---|---|
A varied weights (VW) method is proposed in this paper for the kinematic control of redundant manipulators with multiple constraints. A weight factor rule to reflect the transition of the state of constraint subtask between activeness and inactiveness is presented. Each constraint has a VW factor in such a way that every time only the main task and the active constraint subtasks are considered. A new concept of effective singular value is presented for the design of damping factors to avoid the pseudosingularity arising from the transition of weight factors. The experiments on the seven-degree-of-freedom (7-DOF) Ping-Pong manipulator illustrate the efficacy of the proposed VW method. |
Year | DOI | Venue |
|---|---|---|
2012 | 10.1109/TRO.2011.2173834 | IEEE Transactions on Robotics |
Keywords | Field | DocType |
Joints,Manipulators,Jacobian matrices,Damping,Kinematics,Aerospace electronics,Vectors | Kernel (linear algebra),Singular value decomposition,Kinematics,Singular value,Weight factor,Control theory,Control engineering,Control system,Damping factor,Mathematics,Trajectory | Journal |
Volume | Issue | ISSN |
28 | 2 | 1934-1768 E-ISBN : 978-988-17255-9-2 |
ISBN | Citations | PageRank |
978-988-17255-9-2 | 5 | 0.50 |
References | Authors | |
15 | 3 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Ji Xiang | 1 | 237 | 28.37 |
| Cong-wei Zhong | 2 | 31 | 2.39 |
| Wei Wei | 3 | 182 | 10.48 |