Redundancy indices of kinematically redundant manipulators

Fan-Tien Cheng, Chung Wen Chen, Min Hsiung Hung

研究成果: Paper

2 引文 (Scopus)

摘要

In this work, novel measures, denoted Redundancy Indices, are proposed to quantify the amount of redundancy in the joint rate space for kinematically redundant manipulators. Redundancy Indices are easy to compute and can be applied to all types of kinematically redundant manipulators. Many kinematic constraints (such as the joint angle limits, joint rate bounds, and joint acceleration constraints) and dynamics constraints (such as the joint torque limits) may be considered in the proposed measure. Simulation results in application examples show that by monitoring Redundancy Indices in the motion planning on line, the manipulator's redundancy can be used to the possible extent. For example, the total execution time for a given motion with multiple goals can be reduced significantly. Other possible applications of the proposed measure are under investigation.

原文English
頁面572-577
頁數6
出版狀態Published - 2000 十二月 1
事件26th Annual Conference of the IEEE Electronics Society IECON 2000 - Nagoya, Japan
持續時間: 2000 十月 222000 十月 28

Other

Other26th Annual Conference of the IEEE Electronics Society IECON 2000
國家Japan
城市Nagoya
期間00-10-2200-10-28

指紋

Redundant manipulators
Redundancy
Motion planning
Manipulators
Kinematics
Torque
Monitoring

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

引用此文

Cheng, F-T., Chen, C. W., & Hung, M. H. (2000). Redundancy indices of kinematically redundant manipulators. 572-577. 論文發表於 26th Annual Conference of the IEEE Electronics Society IECON 2000, Nagoya, Japan.
Cheng, Fan-Tien ; Chen, Chung Wen ; Hung, Min Hsiung. / Redundancy indices of kinematically redundant manipulators. 論文發表於 26th Annual Conference of the IEEE Electronics Society IECON 2000, Nagoya, Japan.6 p.
@conference{d058fb5bd58c42beb755ec44a497e61b,
title = "Redundancy indices of kinematically redundant manipulators",
abstract = "In this work, novel measures, denoted Redundancy Indices, are proposed to quantify the amount of redundancy in the joint rate space for kinematically redundant manipulators. Redundancy Indices are easy to compute and can be applied to all types of kinematically redundant manipulators. Many kinematic constraints (such as the joint angle limits, joint rate bounds, and joint acceleration constraints) and dynamics constraints (such as the joint torque limits) may be considered in the proposed measure. Simulation results in application examples show that by monitoring Redundancy Indices in the motion planning on line, the manipulator's redundancy can be used to the possible extent. For example, the total execution time for a given motion with multiple goals can be reduced significantly. Other possible applications of the proposed measure are under investigation.",
author = "Fan-Tien Cheng and Chen, {Chung Wen} and Hung, {Min Hsiung}",
year = "2000",
month = "12",
day = "1",
language = "English",
pages = "572--577",
note = "26th Annual Conference of the IEEE Electronics Society IECON 2000 ; Conference date: 22-10-2000 Through 28-10-2000",

}

Cheng, F-T, Chen, CW & Hung, MH 2000, 'Redundancy indices of kinematically redundant manipulators' 論文發表於 26th Annual Conference of the IEEE Electronics Society IECON 2000, Nagoya, Japan, 00-10-22 - 00-10-28, 頁 572-577.

Redundancy indices of kinematically redundant manipulators. / Cheng, Fan-Tien; Chen, Chung Wen; Hung, Min Hsiung.

2000. 572-577 論文發表於 26th Annual Conference of the IEEE Electronics Society IECON 2000, Nagoya, Japan.

研究成果: Paper

TY - CONF

T1 - Redundancy indices of kinematically redundant manipulators

AU - Cheng, Fan-Tien

AU - Chen, Chung Wen

AU - Hung, Min Hsiung

PY - 2000/12/1

Y1 - 2000/12/1

N2 - In this work, novel measures, denoted Redundancy Indices, are proposed to quantify the amount of redundancy in the joint rate space for kinematically redundant manipulators. Redundancy Indices are easy to compute and can be applied to all types of kinematically redundant manipulators. Many kinematic constraints (such as the joint angle limits, joint rate bounds, and joint acceleration constraints) and dynamics constraints (such as the joint torque limits) may be considered in the proposed measure. Simulation results in application examples show that by monitoring Redundancy Indices in the motion planning on line, the manipulator's redundancy can be used to the possible extent. For example, the total execution time for a given motion with multiple goals can be reduced significantly. Other possible applications of the proposed measure are under investigation.

AB - In this work, novel measures, denoted Redundancy Indices, are proposed to quantify the amount of redundancy in the joint rate space for kinematically redundant manipulators. Redundancy Indices are easy to compute and can be applied to all types of kinematically redundant manipulators. Many kinematic constraints (such as the joint angle limits, joint rate bounds, and joint acceleration constraints) and dynamics constraints (such as the joint torque limits) may be considered in the proposed measure. Simulation results in application examples show that by monitoring Redundancy Indices in the motion planning on line, the manipulator's redundancy can be used to the possible extent. For example, the total execution time for a given motion with multiple goals can be reduced significantly. Other possible applications of the proposed measure are under investigation.

UR - http://www.scopus.com/inward/record.url?scp=0034579856&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=0034579856&partnerID=8YFLogxK

M3 - Paper

AN - SCOPUS:0034579856

SP - 572

EP - 577

ER -

Cheng F-T, Chen CW, Hung MH. Redundancy indices of kinematically redundant manipulators. 2000. 論文發表於 26th Annual Conference of the IEEE Electronics Society IECON 2000, Nagoya, Japan.