A lower dimensional task function method for point-to-point control of non-redundant manipulators
- Resource Type
- Conference
- Authors
- Zhong, Congwei; Xiang, Ji; Wei, Wei; Yuanhui Zhang
- Source
- 2011 IEEE International Conference on Robotics and Automation Robotics and Automation (ICRA), 2011 IEEE International Conference on. :476-481 May, 2011
- Subject
- Robotics and Control Systems
Signal Processing and Analysis
Power, Energy and Industry Applications
Communication, Networking and Broadcast Technologies
Components, Circuits, Devices and Systems
Computing and Processing
Bioengineering
Aerospace electronics
Trajectory
Joints
Jacobian matrices
Tracking
Manipulator dynamics
- Language
- ISSN
- 1050-4729
This paper proposed a task function method for the point-to-point (PTP) control problem of non-redundant robot manipulators. A task function to compress the conventional task space to a new one with lower dimensions increases the redundancy degree so that the original manipulator becomes a redundant one, such that we can apply redundant control laws to achieve online subtasks, such as obstacle avoidance without trajectory replanning. The four basic properties of the task function method which are necessary to ensure the good performance of the PTP control problem are presented. The experiment results verify the effectiveness of the presented method.