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 28 → 1991 十一月 1 |
Other
| Other | Proceedings of the 1991 International Conference on Industrial Electronics, Control and Instrumentation - IECON '91 |
|---|---|
| 城市 | Kobe, Jpn |
| 期間 | 91-10-28 → 91-11-01 |
指紋
All Science Journal Classification (ASJC) codes
- Control and Systems Engineering
- Electrical and Electronic Engineering
引用此文
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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
TY - CONF
T1 - Relationship between the pseudoinverse formulation and the compact formulation for obtaining the general solutions of redundant robotic systems
AU - Chen, Tsing Hua
AU - Cheng, Fan Tien
AU - Sun, York Yin
PY - 1991/12/1
Y1 - 1991/12/1
N2 - 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.
AB - 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.
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UR - http://www.scopus.com/inward/citedby.url?scp=0026379980&partnerID=8YFLogxK
M3 - Paper
AN - SCOPUS:0026379980
SP - 1164
EP - 1169
ER -