Dynamic Control of Kinematically Redundant Robotic Manipulators

Dynamic Control of Kinematically Redundant Robotic Manipulators

Blog Article

Several methods for task space control of kinematically redundant manipulators have ellakai been proposed in the literature.Most of these methods are based on a kinematic analysis of the manipulator.In this paper we propose a control algorithm in bonviv which we are especially concerned with the manipulator dynamics.The algorithm is particularly well suited for the class of redundant manipulators consisting of a relatively small manipulator mounted on a larger positioning part.