Authors: Frank L. Hammond
Addresses: Harvard School of Engineering and Applied Sciences, Harvard University, Cambridge, MA, 02138, USA
Abstract: Kinematically redundant robotic manipulators are capable of concurrently achieving multiple manipulation goals, including collision avoidance and energy minimisation, by resolving kinematic null spaces. Given specifications for manipulator joint motion resolution and accuracy, null spaces can also be resolved to increase end effector motion precision, which is a critical capability for micromanipulation tasks. This work outlines a heuristic computational method for controlling and designing robotic manipulators to achieve greater effective motion resolution on specific tasks. The efficacy of this method is demonstrated through case studies in workspace planning and in morphological and mechanical design optimisation.
Keywords: kinematic redundancy; redundancy resolution; design optimisation; weighted isotropy; manipulability; motion resolution; redundant robots; robotic manipulators; collision avoidance; energy minimisation; kinematic null spaces; robot motion; micromanipulation; robot control; workspace planning; morphological design; mechanical design.
International Journal of Mechatronics and Automation, 2012 Vol.2 No.2, pp.83 - 92
Available online: 25 Jul 2012 *Full-text access for editors Access for subscribers Purchase this article Comment on this article