Relationship between the pseudoinverse formulation and the compact formulation for obtaining the general solutions of redundant robotic systems

Tsing Hua Chen, Fan Tien Cheng, York Yin Sun

Research output: Contribution to conferencePaper

2 Citations (Scopus)

Abstract

The general solutions of redundant robotic systems have been formulated by the traditional pseudoinverse formulation and the compact formulation. The purpose is to derive the relationship between the pseudoinverse and the compact formulations which are valid both for the force distribution and the kinematic redundancy problems. It is shown that the general solutions of the pseudoinverse formulation can be converted into those of the compact formulation with the free variables chosen as a function of the arbitrary vector of the pseudoinverse formulation. Therefore, every optimization scheme that chooses a specified arbitrary vector to optimize a desired objective can be implemented by compact formulation. The computational requirements for both formulations are evaluated and compared.

Original languageEnglish
Pages1164-1169
Number of pages6
Publication statusPublished - 1991 Dec 1
EventProceedings of the 1991 International Conference on Industrial Electronics, Control and Instrumentation - IECON '91 - Kobe, Jpn
Duration: 1991 Oct 281991 Nov 1

Other

OtherProceedings of the 1991 International Conference on Industrial Electronics, Control and Instrumentation - IECON '91
CityKobe, Jpn
Period91-10-2891-11-01

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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    Chen, T. H., Cheng, F. T., & Sun, Y. Y. (1991). Relationship between the pseudoinverse formulation and the compact formulation for obtaining the general solutions of redundant robotic systems. 1164-1169. Paper presented at Proceedings of the 1991 International Conference on Industrial Electronics, Control and Instrumentation - IECON '91, Kobe, Jpn, .