General parameterization of holonomic kinematic inversion algorithms for redundant manipulators

Paolo Rocco, Andrea Maria Zanchettin
2010 2010 IEEE International Conference on Robotics and Automation  
Redundant robotic manipulators under kinematic control may exhibit unpredictable behaviours at joint level. When the end-effector describes a closed trajectory, the joint angles may not return to their initial values and final configuration in the joint space may depend on the trajectory followed by the end-effector. In this paper, a complete parameterization of holonomic local control strategies that avoid these problems is proposed. Only a basis of the null-space of the Jacobian matrix is
more » ... ired in order to design all the possible holonomic control strategies. The effectiveness of the proposed approach is verified on a simple case study and on a real industrial manipulator.
doi:10.1109/robot.2010.5509149 dblp:conf/icra/RoccoZ10 fatcat:ypmylt5yvfc3fkqnt4lzyks4ne