Local Performance Optimization for a Class of Redundant Eight-Degree-Of-Freedom Manipulators

By: Nasa, National Aeronautics and Space Adm

Local performance optimization for joint limit avoidance and manipulability maximization (singularity avoidance) is obtained by using the Jacobian matrix pseudoinverse and by projecting the gradient of an objective function into the Jacobian null space. Real-time redundancy optimization control is achieved for an eight-joint redundant manipulator having a three-axis spherical shoulder, a single elbow joint, and a four-axis spherical wrist. Symbolic...

• Format: Paperback
• Language: English
• ISBN: 1729052398
• ISBN13: 9781729052396
• Release Date: January 1
• Publisher: Independently Published
• Length: 26 Pages
• Weight: 0.19 lbs.
• Dimensions: 0.1" x 8.5" x 11.0"