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

研究成果: Paper

2 引文 (Scopus)

摘要

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.

原文English
頁面1164-1169
頁數6
出版狀態Published - 1991 十二月 1
事件Proceedings of the 1991 International Conference on Industrial Electronics, Control and Instrumentation - IECON '91 - Kobe, Jpn
持續時間: 1991 十月 281991 十一月 1

Other

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

指紋

Robotics
Redundancy
Kinematics

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

引用此文

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. 論文發表於 Proceedings of the 1991 International Conference on Industrial Electronics, Control and Instrumentation - IECON '91, Kobe, Jpn, .
Chen, Tsing Hua ; Cheng, Fan Tien ; Sun, York Yin. / Relationship between the pseudoinverse formulation and the compact formulation for obtaining the general solutions of redundant robotic systems. 論文發表於 Proceedings of the 1991 International Conference on Industrial Electronics, Control and Instrumentation - IECON '91, Kobe, Jpn, .6 p.
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Chen, TH, Cheng, FT & Sun, YY 1991, 'Relationship between the pseudoinverse formulation and the compact formulation for obtaining the general solutions of redundant robotic systems' 論文發表於 Proceedings of the 1991 International Conference on Industrial Electronics, Control and Instrumentation - IECON '91, Kobe, Jpn, 91-10-28 - 91-11-01, 頁 1164-1169.

Relationship between the pseudoinverse formulation and the compact formulation for obtaining the general solutions of redundant robotic systems. / Chen, Tsing Hua; Cheng, Fan Tien; Sun, York Yin.

1991. 1164-1169 論文發表於 Proceedings of the 1991 International Conference on Industrial Electronics, Control and Instrumentation - IECON '91, Kobe, Jpn, .

研究成果: Paper

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Chen TH, Cheng FT, Sun YY. Relationship between the pseudoinverse formulation and the compact formulation for obtaining the general solutions of redundant robotic systems. 1991. 論文發表於 Proceedings of the 1991 International Conference on Industrial Electronics, Control and Instrumentation - IECON '91, Kobe, Jpn, .