This paper describes the application of a closed-loop inverse kinematics algorithm to kinematic control of a robot manipulator. The scheme is formulated at the second-order level, i.e., in terms of velocity and acceleration variables, so as to allow the use of joint space computed torque control. A damped least-squares inverse of the Jacobian is used to ensure feasible joint motion in the neighborhood of kinematic singularities. The theoretical analysis of algorithm convergence is performed on the basis of a Lyapunov argument. The results of experiments on a six-joint industrial robot with open control architecture are presented
Second-order kinematic control of robot manipulators with jacobian damped least-squares inverse: Theory and experiments
CACCAVALE, Fabrizio;
1997-01-01
Abstract
This paper describes the application of a closed-loop inverse kinematics algorithm to kinematic control of a robot manipulator. The scheme is formulated at the second-order level, i.e., in terms of velocity and acceleration variables, so as to allow the use of joint space computed torque control. A damped least-squares inverse of the Jacobian is used to ensure feasible joint motion in the neighborhood of kinematic singularities. The theoretical analysis of algorithm convergence is performed on the basis of a Lyapunov argument. The results of experiments on a six-joint industrial robot with open control architecture are presentedFile in questo prodotto:
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