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Task-Priority Based Redundancy Control of Robot Manipulators
Abstract
In this paper, we describe a new scheme for redundancy control of robot manipulators. We introduce the concept of task priority in relation to the inverse kinematic problem of redundant robot manipulators. A required task is divided into subtasks according to the order of priority. We propose to determine the joint motions of robot manipulators so that subtasks with lower priority can be performed utilizing re dundancy on subtasks with higher priority. This procedure is formulated using the pseudoinverses of Jacobian matrices. Most problems of redundancy utilization can be formulated in the framework of tasks with the order of priority. The results of numerical simulations and experiments show the effectiveness of the proposed redundancy control scheme.
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Cited by
A general framework for managing multiple tasks in highly redundant robotic systems
Siciliano, B., & Slotine, J.-J. E. (1991) · Fifth International Conference on Advanced Robotics 'Robots in Unstructured Environments · doi:10.1109/icar.1991.240390 · Cited by 608
Bottom dressing by a life-sized humanoid robot provided failure detection and recovery functions
Yamazaki, K., Oya, R., Nagahama, K., Okada, K., & Inaba, M. (2014) · 2014 IEEE/SICE International Symposium on System Integration · doi:10.1109/sii.2014.7028101 · Cited by 42
Metadata
- Authors
- Nakamura, Y., Hanafusa, H., & Yoshikawa, T.
- Venue
- The International Journal of Robotics Research
- Publisher
- SAGE Publications
- Published
- 1987-06
- Volume
- 6
- Issue
- 2
- Pages
- 3-15
- ISSN
- 0278-3649 (ISSN-L)
- 1741-3176
- OpenAlex
- W2042803738
- Cited by
- 1,021
- References
- 0
- FWCI
- 35.21
- Type
- journal article
- Language
- en
- Open access
- closed
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- Nakamura, Y., Hanafusa, H., & Yoshikawa, T. (1987). Task-Priority Based Redundancy Control of Robot Manipulators. The International Journal of Robotics Research. https://doi.org/10.1177/027836498700600201
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Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
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