Kinematic Redundancy Resolution for Serial-Parallel Manipulators via Local Optimization Including Joint Constraints

This paper presents a method for kinematic redundancy resolution for serial-parallel manipulators using local optimization. The local optimization method is computationally efficient and thus suitable for real-time application. Furthermore, the developed method allows for incorporation of both activ...

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Bibliographic Details
Published in:Mechanics Based Design of Structures and Machines 2006-07, Vol.34 (2), p.213-239
Main Authors: Cha, S.-H., Lasky, T. A., Velinsky, S. A.
Format: Article
Language:English
Subjects:
Applied sciences
Computer science
control theory
systems
Control theory. Systems
Drives
Exact sciences and technology
Fundamental areas of phenomenology (including applications)
Hybrid manipulator
Kinematic redundancy
Linkage mechanisms, cams
Local optimization
Mechanical engineering. Machine design
Physics
Robotics
Solid dynamics (ballistics, collision, multibody system, stabilization...)
Solid mechanics
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Summary:This paper presents a method for kinematic redundancy resolution for serial-parallel manipulators using local optimization. The local optimization method is computationally efficient and thus suitable for real-time application. Furthermore, the developed method allows for incorporation of both active and passive joint limits. Accordingly, only feasible trajectory solutions are obtained. The method includes a rule-based, heuristic algorithm to provide smooth transitions between unconstrained and constrained motions. Details of the new algorithm are provided and the efficacy of the approach is established through simulation. Additionally, the algorithm is validated by comparison to a widely accepted global optimization method.
ISSN:1539-7734
1539-7742
1525-612X
DOI:10.1080/15397730600778527