An extension to operational space for kinematically redundant manipulators: Kinematics and dynamics

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An extension to operational space (EXOS) is presented for the explicit representation of the null-space (NS) dynamics and its interaction with the operational-space dynamics. First, the EXOS Jacobian is formed by augmenting the Jacobian matrix with a minimum number of its NS vectors. Based on the EXOS Jacobian, free of algorithmic singularity, the kinematics, statics, and dynamics of a redundant manipulator are derived in a compact form. In particular, the resulting EXOS dynamics is able to identify the inner dynamic structure. Its efficacy and efficiency have been demonstrated through comparative analysis and simulation.
Publisher
Institute of Electrical and Electronics Engineers
Issue Date
2000
Language
English
Article Type
Article; Proceedings Paper
Keywords

TIME-DELAY CONTROL; ROBOT MANIPULATORS; FORMULATION

Citation

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, v.16, pp.592 - 596

ISSN
1042-296X
URI
http://hdl.handle.net/10203/12415
Appears in Collection
ME-Journal Papers(저널논문)
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