A Varied Weights Method for the Kinematic Control of Redundant Manipulators With Multiple Constraints

作者：Xiang Ji^*; Zhong Congwei; Wei Wei

来源：IEEE Transactions on Robotics, 2012, 28(2): 330-340.

DOI：10.1109/TRO.2011.2173834

• Effective singular value
• kinematic control
• multiple constraints
• redundant manipulator
• varied weights (VW) method

A varied weights (VW) method is proposed in this paper for the kinematic control of redundant manipulators with multiple constraints. A weight factor rule to reflect the transition of the state of constraint subtask between activeness and inactiveness is presented. Each constraint has a VW factor in such a way that every time only the main task and the active constraint subtasks are considered. A new concept of effective singular value is presented for the design of damping factors to avoid the pseudosingularity arising from the transition of weight factors. The experiments on the seven-degree-of-freedom (7-DOF) Ping-Pong manipulator illustrate the efficacy of the proposed VW method.

• 出版日期2012-4
• 单位浙江大学