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RESEARCH ON KINEMATIC DEXTERITY OF REDUNDANT MANIPULATORS |
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| Authors: | CHEN Weihai ZHANG Qixian YANG Zongxu LI Jian |
| Abstract: | This paper deeply researches the inner relation and contradictory conflict of the unity which consists of joint geometrical positions, orientations and joint velocities. A new idea to improve the weighted manipulability ellipsoid by optimizing joint velocities is presented. Thus geometrical position & orientation of robot may be indirectly optimized by the feedback of joint velocities. Simulation verifies this scheme is very useful for real time control because of its simple arithmetic. |
| Keywords: | redundancy robots kinematics control |
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