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Proceedings Paper

Global Kinematics for Manipulator Planning and Control
Author(s): Joel W. Burdick
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Paper Abstract

This paper reviews one method of global kinematic analysis, based on a manifold mapping reformulation of manipulator kinematics, which is suitable for both non-redundant and redundant serial chain manipulators. Two applications of this approach are considered: the relationship between changing pose and singularities for non-redundant manipulators and the homotopy class of redundant manipulator self-motions. The first relationship has important implications for non-redundant manipulator regrasping operations. Variations in redundant manipulator self-motion homotopy can have an important effect on motion and redundancy resolution planning, since they can lead to algorithmic singularities and unexpected loss of manipulator capabilities.

Paper Details

Date Published: 1 February 1990
PDF: 13 pages
Proc. SPIE 1196, Intelligent Control and Adaptive Systems, (1 February 1990); doi: 10.1117/12.969907
Show Author Affiliations
Joel W. Burdick, California Institute of Technology (United States)


Published in SPIE Proceedings Vol. 1196:
Intelligent Control and Adaptive Systems
Guillermo Rodriguez, Editor(s)

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