Pseudoinverse Method and Singularities Discussed


A manipulator is said to be redundant when more DOF are available than the minimum number required to perform a specific end-effector primary task. For redundant manipulators, as discussed in previous chapters, the inverse kinematic resolution is a fundamental issue in operating the robot systems. The general description of this problem is that, given the desired Cartesian path rd(t) ∈ ℝm for the manipulator’s end-effector to track, how can we generate the corresponding joint trajectory θ(t) ∈ ℝn in real time t? Note that n > m and, thus, there exist multiple or an infinite number of feasible solutions to the inverse-kinematic problem. In this sense, the redundancy of joint motion, together with kinematic and dynamic nonlinearities, complicate the manipulator control problem significantly.

10.2Preliminaries and Scheme Formulation
10.3LVIAPDNN Assisted QP Solution with Discussion
10.4Computer Simulations
10.5Chapter Summary

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