Repeatability in redundant manipulator systems
By: by Ranjan Mukherjee
Contributors: Naval Postgraduate School (U.S.). Dept. of Mechanical Engineering
Publisher: Naval Postgraduate School; Available from National Technical Information Service
Published: 1994
Place of publication: Monterey, Calif; Springfield, Va
Language: eng
Number of pages: 34
Subjects: REDUNDANCY; MANIPULATORS
Other titles: NPS-ME-94-003.
Description: Terrestrial manipulators with more DOF than the dimension of the workspace and space      manipulators with as many manipulator DOF as the dimension of the workspace are both      redundant systems. An interesting problem of such redundant systems has been the      repeatability problem due to the presence of nonholonomic constraints. We show in this      paper, contrary to the existing belief, that integrability of the nonholonomic constraints is      not a necessary condition for the repeatability of the configuration variables. There exist      certain trajectories in the independent configuration variable space that are like 'holonomic      loops' along which the redundant manipulators exhibit repeatable motion. In this paper we      present a simple method based on optimization techniques for designing repeatable      trajectories for free-flying space manipulators and terrestrial manipulators under      pseudoinverse control. Nonholonomic mechanical system, Motion planning, Configuration      space, Repeatability, Pseudoinverse control, Free-flying space manipulator, Holonomic      loops
Notes: Title from cover.

"NPS-ME-94-003."

"February 1994."

AD A282 957.

Includes bibliographical references (p. 19-21).

aq/aq cc:9116 12/07/98