### 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 22 → 2000 十月 28 |

### Other

Other | 26th Annual Conference of the IEEE Electronics Society IECON 2000 |
---|---|

國家 | Japan |

城市 | Nagoya |

期間 | 00-10-22 → 00-10-28 |

### 指紋

### All Science Journal Classification (ASJC) codes

- Control and Systems Engineering
- Electrical and Electronic Engineering

### 引用此文

*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.

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

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 -