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An approach to modeling a kinematically redundant dual manipulator closed chain system using pseduovelocities

机译：使用PSEDUocitipities建模运动学冗余双控器闭链系统的方法

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The paper discusses the problem of resolving the kinematic redundancy in the closed chain formed when two redundant manipualtors mutually lift a rigid body object. The positional degrees of freedom (DOF) in the closed chain are parameterized by a set of independent variables termed pseduovelocities. Due to the redundancy there are more DOF and thus more pseudovelocities than are required to specify the motion of the held object. The additional "redundant" pseudovelocities are used to minimize the distance between the vector of unknown joint velocities and a vector of "corrective: joint velocities in a Euclidean norm sense. This leads to an optimal solution for the joint velocities as a linear function of the Cartesian object velocities and the corrective velocities. The problem of determining the corrective velocities velocities to avoid collisions of the links with a wall located in the workspace and to avoid joint range limits is illustrated by an example of two redundant planar revolute joint manipulators mutually lifting a rigid object.
机译：本文讨论解决当两个冗余manipualtors相互解除刚体对象形成的闭合链的运动冗余的问题。 （DOF）在闭合链的位置自由度是由一组独立变量的参数化被称为pseduovelocities。由于冗余有更多的自由度，因此比需要指定所保持的物体的运动更pseudovelocities。额外的“冗余” pseudovelocities被用于最小化未知关节速度的向量和的“矫正的矢量之间的距离：在欧几里得范数意义关节速度这导致对关节速度的最优解作为的一个线性函数笛卡尔对象速度和校正速度。确定所述校正速度的速度，以避免与位于工作区并避免关节范围限制的壁中的链接的碰撞的问题是由两个冗余平面转动关节机械手相互搬起的一个例子示出刚性物体。

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