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A realistic Joint Limit Algorithm for Kinematically Redundant Manipulators

Title
A realistic Joint Limit Algorithm for Kinematically Redundant Manipulators
Author
이병주
Keywords
Joint limit; Kinematically redundant manipulator; Self-motion
Issue Date
2007-10
Publisher
IEEE
Citation
2007 International Conference on Control, Automation and Systems, Page. 47-50
Abstract
There have been many researches on the joint limit algorithm exploiting kinematic redundancy in kinematically redundant manipulators. Existing joint limit algorithms tend to minimize the distance between the current joint angle and the middle angle of the given joint range. However, strictly speaking, these algorithms control the joint angle to come close to the middle angle, but sometimes this algorithm does not fully utilize the entire motion range of joints and consumes relatively large energy. Therefore, this paper proposes a new joint limit algorithm that not only prevents the joint limit violation, but also utilizes the wide motion range of joints. Two exemplary manipulator models having kinematic redundancy are employed to show the feasibility of the proposed algorithm.
URI
https://ieeexplore.ieee.org/document/4406877https://repository.hanyang.ac.kr/handle/20.500.11754/107055
ISBN
978-89-950038-6-2
DOI
10.1109/ICCAS.2007.4406877
Appears in Collections:
COLLEGE OF ENGINEERING SCIENCES[E](공학대학) > ELECTRICAL ENGINEERING(전자공학부) > Articles
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