A Lower Dimensional Task Function Method for Point-to-Point Control of Non-Redundant Manipulators

摘要：

This paper proposed a task function method for the point-to-point (PTP) control problem of non-redundant robot manipulators. A task function to compress the conventional task space to a new one with lower dimensions increases the redundancy degree so that the original manipulator becomes a redundant one, such that we can apply redundant control laws to achieve online subtasks, such as obstacle avoidance without trajectory replanning. The four basic properties of the task function method which are necessary to ensure the good performance of the PTP control problem are presented. The experiment results verify the effectiveness of the presented method.

作者: Congwei Zhong Ji Xiang Wei Wei Yuanhui Zhang

作者单位: department of System Science and Engineering,College of Electrical Engineering,Zhejiang University,P. R. China

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

会议地点: 上海

会议语种:英文

页码: 476-481

在线出版日期: 2011-05-09（万方平台首次上网日期，不代表论文的发表时间）