Redundancy resolution through local optimization: A review

DOI10.1002/ROB.4620060607MaRDI QIDQ4206421zbMATH OpenOpenAlexFDO

Authors 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 problemsKinematically redundant manipulator armslocal optimizationrobotic mechanisms

Mathematics Subject Classification ID

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

Recommendations

• scientific article; zbMATH DE number 4176520
• Trajectory optimization for kinematically redundant arms
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• A local solution with global characteristics for the joint torque optimization of a redundant manipulator
• Remarks on some dynamical problems of controlling redundant manipulators

Cites work

• Automatic Supervisory Control of the Configuration and Behavior of Multibody Mechanisms
• scientific article; zbMATH DE number 589406 (Why is no real title available?)
• scientific article; zbMATH DE number 3373921 (Why is no real title available?)
• Inverse Kinematic Solutions With Singularity Robustness for Robot Manipulator Control
• Manipulator Inverse Kinematic Solutions Based on Vector Formulations and Damped Least-Squares Methods
• Regression and the Moore-Penrose pseudoinverse
• Resolved-acceleration control of mechanical manipulators

Cited in

(19)

• On-line trajectory resolution for two-armed systems with conflicting performance criteria
• Parallel VLSI architectures for real-time kinematics of redundant robots
• 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 fractional perspective on the trajectory control of redundant and hyper-redundant robot manipulators
• scientific article; zbMATH DE number 4176520 (Why is no real title available?)
• Trajectory optimization for kinematically redundant arms
• Resolution of redundancy using local optimization: a synergy approach
• scientific article; zbMATH DE number 1343271 (Why is no real title available?)
• Null torque‐based dynamic control for kinematically redundant manipulators
• scientific article; zbMATH DE number 1049500 (Why is no real title available?)
• Kinematics and the Implementation of an Elephant's Trunk Manipulator and Other Continuum Style Robots
• An inverse dynamic-based dynamic programming method for optimal point-to-point trajectory planning of robotic manipulators
• A smart robot's geometric model inverting system
• Reducing flexible base vibrations through local redundancy resolution
• Perception and motion planning for unknotting/untangling of ropes of finite thickness
• Redistricting optimization with recombination: a local search case study
• Adaptive Cartesian space control of robotic manipulators: a concurrent learning based approach
• Motion control of the flexible manipulator via controllable local degrees of freedom

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