Kinematic functions for redundancy resolution using configuration control

US5294873A · kind A · utility

Assignee

• The United States of America as represented by the Administrator of the National Aeronautics and Space Administration · US

Inventor

• Homayoun Seraji · La Cañada Flintridge, US

Key dates

• Filing date: Oct 27, 1992
• Grant date: Mar 15, 1994
• Expiry date: Oct 27, 2012

Classification

• Technology area (CPC G): Physics
• CPC primary: G05B2219/40342
• WIPO field: Handling
• WIPO sector: Mechanical engineering

Abstract

The invention fulfills new goals for redundancy resolution based on manipulator dynamics and end-effector characteristics. These goals are accomplished by employing the recently developed configuration control approach. Redundancy resolution is achieved by controlling the joint inertia matrix or the end-effector mass matrix that affect the inertial torques, or by reducing the joint torques due to gravity loading and payload. The manipulator mechanical-advantage and velocity-ratio are also used as performance measures to be improved by proper utilization of redundancy. Furthermore, end-effector compliance, sensitivity, and impulsive force at impact are introduced as redundancy resolution criteria. The new goals for redundancy resolution allow a more efficient utilization of the redundant joints based on the desired task requirements.