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Dynamical Resolution of Redundancy for Robot Manipulators

Ghosal, A and Desa, S (1993) Dynamical Resolution of Redundancy for Robot Manipulators. In: Journal of Mechanical Design, 115 (3). pp. 592-598.

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A large class of work in the robot manipulator literature deals with the kinematical resolution of redundancy based on the pseudo-inverse of the manipulator Jacobian. In this paper an alternative dynamical approach to redundancy resolution is developed which utilizes the mapping between the actuator torques and the acceleration of the end-effector, at a given dynamic state of the manipulator. The potential advantages of the approach are discussed and an example of a planar 3R manipulator following a circular end-effector trajectory is used to illustrate the proposed approach as well as to compare it with the more well-known approach based on the pseudo-inverse.

Item Type: Journal Article
Additional Information: Copyright of this article belongs to The American Society of Mechanical Engineers.
Department/Centre: Division of Mechanical Sciences > Mechanical Engineering
Depositing User: Ms TV Yashodha
Date Deposited: 10 Feb 2011 06:53
Last Modified: 10 Feb 2011 06:53
URI: http://eprints.iisc.ac.in/id/eprint/35409

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