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首页> 美国政府科技报告 >Approach to modeling a kinematically redundant dual manipulator closed chain system using pseudovelocities
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Approach to modeling a kinematically redundant dual manipulator closed chain system using pseudovelocities

机译：使用pseudovelocities建模运动冗余双机械手闭链系统的方法

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The paper discusses the problem of resolving the kinematic redundancy in the closed chain formed when two redundant manipulators 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 pseudovelocities. 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 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.

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