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Conference Paper: A Jacobian-based Redundant Control Strategy for the 7-DOF WAM

TitleA Jacobian-based Redundant Control Strategy for the 7-DOF WAM
Authors
Issue Date2002
PublisherIEEE.
Citation
Proceedings Of The 7Th International Conference On Control, Automation, Robotics And Vision, Icarcv 2002, 2002, p. 1060-1065 How to Cite?
AbstractThe mapping between the Cartesian space and joint space of robot manipulators has long been a difficult task for redundant robots. Two main methods are used in the classical approach. One is by using direct kinematic inversion in the position regime; the other is to use Jacobian Transformation in the velocity regime. However, for a redundant robot, a non-squared Jacobian matrix is resulted when mapping between the two spaces. This results in using appropriate optimization algorithms to compute along with the Jacobian matrix. Taking the second approach, the Jacobian matrix for a redundant robot will be non-square. One approach to obtain a solution is to use pseudo inverse, this approach is however computational intensive. This paper presents a pragmatic approach by which a joint of a 7-DOF Whole Arm Manipulator (WAM) is initially fixed to facilitate the computation of the squared Jacobian matrix. Based on this approach, appropriate optimization strategies that are outlined in the paper, can then be applied to determine the optimal value of the 'fixed' joint in real time. Experiments are performed to verify the viability of this approach, and the results established that a robust and flexible, Cartesian trajectory planning framework can be achieved for general redundant manipulators.
Persistent Identifierhttp://hdl.handle.net/10722/46591
ISBN
References

 

DC FieldValueLanguage
dc.contributor.authorLau, HYKen_HK
dc.contributor.authorWai, LCCen_HK
dc.date.accessioned2007-10-30T06:53:36Z-
dc.date.available2007-10-30T06:53:36Z-
dc.date.issued2002en_HK
dc.identifier.citationProceedings Of The 7Th International Conference On Control, Automation, Robotics And Vision, Icarcv 2002, 2002, p. 1060-1065en_HK
dc.identifier.isbn981-04-8364-3en_HK
dc.identifier.urihttp://hdl.handle.net/10722/46591-
dc.description.abstractThe mapping between the Cartesian space and joint space of robot manipulators has long been a difficult task for redundant robots. Two main methods are used in the classical approach. One is by using direct kinematic inversion in the position regime; the other is to use Jacobian Transformation in the velocity regime. However, for a redundant robot, a non-squared Jacobian matrix is resulted when mapping between the two spaces. This results in using appropriate optimization algorithms to compute along with the Jacobian matrix. Taking the second approach, the Jacobian matrix for a redundant robot will be non-square. One approach to obtain a solution is to use pseudo inverse, this approach is however computational intensive. This paper presents a pragmatic approach by which a joint of a 7-DOF Whole Arm Manipulator (WAM) is initially fixed to facilitate the computation of the squared Jacobian matrix. Based on this approach, appropriate optimization strategies that are outlined in the paper, can then be applied to determine the optimal value of the 'fixed' joint in real time. Experiments are performed to verify the viability of this approach, and the results established that a robust and flexible, Cartesian trajectory planning framework can be achieved for general redundant manipulators.en_HK
dc.format.extent559384 bytes-
dc.format.extent2442 bytes-
dc.format.mimetypeapplication/pdf-
dc.format.mimetypetext/plain-
dc.languageengen_HK
dc.publisherIEEE.en_HK
dc.relation.ispartofProceedings of the 7th International Conference on Control, Automation, Robotics and Vision, ICARCV 2002en_HK
dc.rightsCreative Commons: Attribution 3.0 Hong Kong License-
dc.rights©2002 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.en_HK
dc.titleA Jacobian-based Redundant Control Strategy for the 7-DOF WAMen_HK
dc.typeConference_Paperen_HK
dc.identifier.openurlhttp://library.hku.hk:4550/resserv?sid=HKU:IR&issn=981-04-8364-3&volume=2&spage=1060&epage=1065&date=2002&atitle=A+Jacobian-based+redundant+control+strategy+for+the+7-DOF+WAMen_HK
dc.identifier.emailLau, HYK:hyklau@hkucc.hku.hken_HK
dc.identifier.authorityLau, HYK=rp00137en_HK
dc.description.naturepublished_or_final_versionen_HK
dc.identifier.doi10.1109/ICARCV.2002.1238570en_HK
dc.identifier.scopuseid_2-s2.0-2342436478en_HK
dc.identifier.hkuros81024-
dc.relation.referenceshttp://www.scopus.com/mlt/select.url?eid=2-s2.0-2342436478&selection=ref&src=s&origin=recordpageen_HK
dc.identifier.spage1060en_HK
dc.identifier.epage1065en_HK
dc.identifier.scopusauthoridLau, HYK=7201497761en_HK
dc.identifier.scopusauthoridWai, LCC=7003848392en_HK

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