Redundancy resolution through local optimization: A review

DOI10.1002/ROB.4620060607zbMath0687.70002OpenAlexW1994875265MaRDI QIDQ4206421

D. N. Nenchev

Publication date: 1989

Published in: Journal of Robotic Systems (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1002/rob.4620060607

zbMATH Keywords

control problemslocal optimizationrobotic mechanismsKinematically redundant manipulator arms

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Kinematics of mechanisms and robots (70B15) Optimization problems in solid mechanics (74P99) Research exposition (monographs, survey articles) pertaining to mechanics of particles and systems (70-02)

Related Items (15)

Parallel VLSI architectures for real-time kinematics of redundant robots ⋮ Motion control of the flexible manipulator via controllable local degrees of freedom ⋮ Null torque‐based dynamic control for kinematically redundant manipulators ⋮ Perception and Motion Planning for Unknotting/untangling of Ropes of Finite Thickness ⋮ Overview of damped least-squares methods for inverse kinematics of robot manipulators ⋮ Neural network based control scheme for redundant robot manipulators subject to multiple self-motion criteria ⋮ A smart robot's geometric model inverting system ⋮ Reducing flexible base vibrations through local redundancy resolution ⋮ Unnamed Item ⋮ Kinematics and the Implementation of an Elephant's Trunk Manipulator and Other Continuum Style Robots ⋮ Adaptive Cartesian space control of robotic manipulators: a concurrent learning based approach ⋮ A fractional perspective on the trajectory control of redundant and hyper-redundant robot manipulators ⋮ An inverse dynamic-based dynamic programming method for optimal point-to-point trajectory planning of robotic manipulators ⋮ On-line trajectory resolution for two-armed systems with conflicting performance criteria ⋮ Unnamed Item

Cites Work

• Unnamed Item
• Unnamed Item
• Regression and the Moore-Penrose pseudoinverse
• Manipulator Inverse Kinematic Solutions Based on Vector Formulations and Damped Least-Squares Methods
• Inverse Kinematic Solutions With Singularity Robustness for Robot Manipulator Control
• Resolved-acceleration control of mechanical manipulators
• Automatic Supervisory Control of the Configuration and Behavior of Multibody Mechanisms

This page was built for publication: Redundancy resolution through local optimization: A review