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Proceedings Paper

Visualization of redundancy resolution for kinematically redundant robots through the Jacobian null space
Author(s): Yu-Che Chen; Ian David Walker; John B. Cheatham, Jr.
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Paper Abstract

We present a unified formulation for the inverse kinematics of redundant arms. Based on a special formulation of the null space of the Jacobian. By extending (appropriately re-scaling) previously used null space parameterizations, we obtain, in a unified fashion, the manipulability measure, the null space projector, and the particular solutions for the joint velocities. We obtain the minimum norm pseudo-inverse solution as a projection from any particular solution, and the method provides an intuitive visualization of the self-motion. The result is a computationally efficient, consistent approach to compute redundant robot inverse kinematics.

Paper Details

Date Published: 1 November 1992
PDF: 11 pages
Proc. SPIE 1829, Cooperative Intelligent Robotics in Space III, (1 November 1992); doi: 10.1117/12.131701
Show Author Affiliations
Yu-Che Chen, Univ. of Tulsa (United States)
Ian David Walker, Rice Univ. (United States)
John B. Cheatham, Jr., Rice Univ. (United States)

Published in SPIE Proceedings Vol. 1829:
Cooperative Intelligent Robotics in Space III
Jon D. Erickson, Editor(s)

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