Dynamic analysis of Continuous Cascaded Generalized Inverse resolution of kinematically redundant manipulators with flexible joints

2014 ◽  
Author(s):  
Travis Baratcart ◽  
Valerio Salvucci ◽  
Takafumi Koseki
Keyword(s):  
Dynamic Analysis ◽  
Generalized Inverse ◽  
Redundant Manipulators ◽  
Flexible Joints ◽  
Inverse Resolution

Fractional Order Dynamics in the Trajectory Planning of Redundant and Hyper-Redundant Manipulators

2003 ◽  
Author(s):  
Fernando B. M. Duarte ◽  
J. A. Tenreiro Machado
Keyword(s):  
Fractional Calculus ◽  
Fractional Order ◽  
Trajectory Planning ◽  
Free Space ◽  
Trajectory Optimization ◽  
Generalized Inverse ◽  
Resolution Of Singularities ◽  
Control Algorithms ◽  
Redundant Manipulators ◽  
Kinematic Control

Redundant manipulators have some advantages when compared with classical arms because they allow the trajectory optimization, both on the free space and on the presence of obstacles, and the resolution of singularities. For this type of arms the proposed kinematic control algorithms adopt generalized inverse matrices but, in general, the corresponding trajectory planning schemes show important limitations. Motivated by these problems this paper studies the pseudoinverse-based trajectory planning algorithms, using the theory of fractional calculus.

Obstacle Avoidance Algorithm for Redundant Manipulators Based on Weighted Generalized Inverse

2017 ◽  
Vol 872 ◽  
pp. 303-309
Author(s):  
Hai Rui Cao ◽  
Xiao Qin Gu ◽  
Chu Hong Yu
Keyword(s):  
Obstacle Avoidance ◽  
Generalized Inverse ◽  
Redundant Manipulators ◽  
Continuous Transition ◽  
Secondary Tasks ◽  
Field Measuring ◽  
Joint Limits ◽  
The Relationship ◽  
Dangerous Level ◽  
Weighted Generalized Inverse

In this paper, a gradient projection method for redundant robot manipulators based on weighted generalized inverse was presented. By weighting the Jacobian matrix and gradient, not only the obstacles, but also the joint limits could be avoided. In the process of obstacle avoidance, the evaluation function called danger field measuring the dangerous level between the manipulator and obstacles was used and improved. According to the relationship between the value of danger field and the preset threshold, a smooth and continuous transition between the primary and secondary tasks is allowed. This method was proved to be effective by numerical simulations in Matlab.

Geometrical Properties of the Generalized Inverse and its Application to the Inverse Velocity Analysis of Planar Redundant Manipulators

1996 ◽  
Author(s):  
José María Rico Martínez ◽  
Joseph K. Davidson
Keyword(s):  
Generalized Inverse ◽  
Jacobian Matrix ◽  
Velocity Analysis ◽  
Redundant Manipulators ◽  
Geometric Properties ◽  
Geometrical Properties ◽  
Alternative Method ◽  
Inverse Velocity

Abstract The geometrical properties of the generalized inverse, a scheme frequently applied to the inverse velocity analysis of redundant manipulators, are presented. The columns of the Jacobian matrix, as well as, the rows of the generalized inverse are identified with infinitesimal screws. Then, many geometric properties of these screws are obtained and summarized, especially those that relate to the location of the row screws that appear in the generalized inverse. These properties are then used to develop a simplified alternative method for computing the generalized inverse of planar redundant manipulators.

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