Abstract
Up to the present, a number of performance indices have been proposed for measure of dexterity of manipulators. But, there are many problems connected the physical and mathematical meanings of these measures. In this paper, a new performance index considering aspect maintenance, computational burden, representation of identical unit without regard to robot and effectiveness of algorithm has proposed. This performance index is called reduced minor index. Inverse kinematics is indispensable to robot control. The singularity-robust inverse is used and it offers a feasible motion close to the desired trajectory even at or in the neighborhood of singular points. Control of redundant robot utilizing upper reduced minor index and singularity-robust inverse is applied to the 4 DOF wire-driven robot. The effectiveness of the proposed control algorithm is illustrated with simulation and experiment results.
| Original language | English |
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| Pages | 1687-1691 |
| Number of pages | 5 |
| Publication status | Published - 2002 |
| Event | Proceedings of the 4th World Congress on Intelligent Control and Automation - Shanghai, China Duration: 2002 Jun 10 → 2002 Jun 14 |
Other
| Other | Proceedings of the 4th World Congress on Intelligent Control and Automation |
|---|---|
| Country/Territory | China |
| City | Shanghai |
| Period | 02/6/10 → 02/6/14 |
All Science Journal Classification (ASJC) codes
- Control and Systems Engineering
- Software
- Computer Science Applications