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Global kinematics for manipulator planning and control

Burdick, Joel W. (1989) Global kinematics for manipulator planning and control. In: Twenty-Third Asilomar Conference on Signals, Systems and Computers, 1989. IEEE , Piscataway, NJ, pp. 1002-1007. ISBN 0-929029-30-1. https://resolver.caltech.edu/CaltechAUTHORS:20170710-174553615

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Abstract

This paper reviews one method of global kinematic analysis, based on a manifold mapping reformulation of manipulator kinematics, which is suitable for both non-redundant and redundant serial chain manipulators. Two applications of this approach are considered: the relationship between changing pose and singularities for non-redundant manipulators and the homotopy class of redundant manipulator self-motions. The first relationship has important implications for non-redundant, manipulator regrasping operations. Variations in redundant manipulator self-motion homotopy can have an important effect on motion and redundancy resolution planning, since they can lead to algorithmic singularities and unexpected loss of manipulator capabilities.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/ACSSC.1989.1201049DOIArticle
http://ieeexplore.ieee.org/document/1201049/PublisherArticle
Additional Information:© 1989 IEEE.
Record Number:CaltechAUTHORS:20170710-174553615
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20170710-174553615
Official Citation:J. W. Burdick, "Global kinematics for manipulator planning and control," Twenty-Third Asilomar Conference on Signals, Systems and Computers, 1989., Pacific Grove, California, USA, 1989, pp. 1002-1007. doi: 10.1109/ACSSC.1989.1201049
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:78918
Collection:CaltechAUTHORS
Deposited By: Kristin Buxton
Deposited On:11 Jul 2017 02:45
Last Modified:03 Oct 2019 18:13

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