Equivalence of velocity-level and acceleration-level redundancy-resolution of manipulators

The equivalence of velocity-level and acceleration-level redundancy resolution of robot manipulators is investigated in this Letter. Theoretical analysis based on gradient-descent method and computer simulations based on PUMA560 robot manipulator both demonstrate the equivalence of redundancy-resolu...

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Bibliographic Details
Published inPhysics letters. A Vol. 373; no. 38; pp. 3450 - 3453
Main Authors Cai, Binghuang, Zhang, Yunong
Format Journal Article
LanguageEnglish
Published Elsevier B.V 14.09.2009
Subjects
Different levels
Equivalence
Gradient descent
PUMA560 robot manipulator
Quadratic programming
Redundancy resolution
70B15
90C20
Gradient descent
Equivalence
Different levels
46.15.Cc
Redundancy resolution
Quadratic programming
45.40.Ln
PUMA560 robot manipulator
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ISSN0375-9601
1873-2429
DOI10.1016/j.physleta.2009.07.045

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Summary:The equivalence of velocity-level and acceleration-level redundancy resolution of robot manipulators is investigated in this Letter. Theoretical analysis based on gradient-descent method and computer simulations based on PUMA560 robot manipulator both demonstrate the equivalence of redundancy-resolution schemes at different levels.
ISSN:0375-9601
1873-2429
DOI:10.1016/j.physleta.2009.07.045