Dynamic Control of Kinematically Redundant Robotic Manipulators

Dynamic Control of Kinematically Redundant Robotic Manipulators

Blog Article

Several methods for task space control of kinematically redundant Furniture-Setup manipulators have been proposed in the literature.Most of these methods are based on a kinematic analysis of the manipulator.In this paper we propose a control algorithm in which we are especially concerned with the manipulator dynamics.

The algorithm is particularly well suited for the class of redundant manipulators consisting of a relatively Stop Switch small manipulator mounted on a larger positioning part.