A Varied Weights Method for the Kinematic Control of Redundant Manipulators With Multiple Constraints
This paper proposes a varied weights (VW)method for the kinematic control of redundant manipulators with multiple constraints.Each constraint has a varied weight factor to re ect its transition from the inactive state to the active state.At every control loop,only the main task and the active constraint subtasks are considered.A new concept of effective singular value is presented for the design of the damping factor to avoid the pseudo-singularity due to the transition of weight factors.The experiments on the seven-degree-of-freedom Ping-Pong manipulator illustrate the ef cacy of the proposed VW method.
XIANG Ji ZHONG Congwei WEI Wei
Department of System Science and Engineering,College of Electrical Engineering,Zhejiang University,P.R.China.
国际会议
The 30th Chinese Control Conference(第三十届中国控制会议)
烟台
英文
1-6
2011-07-01（万方平台首次上网日期，不代表论文的发表时间）