Hostname: page-component-cd9895bd7-mkpzs Total loading time: 0 Render date: 2024-12-27T15:19:38.746Z Has data issue: false hasContentIssue false
  • English
  • Français

Control strategy for a redundant PUMA manipulator *

Published online by Cambridge University Press:  09 March 2009

Helmut Allgeuer
Helmut Allgeuer
Affiliation:
Soellnergasse 2–4/2/20, A-1030 Vienna (Austria)
Get access Rights & Permissions [Opens in a new window]

Summary

In this paper a control strategy for a redundant PUMA robot is presented. This robot is obtained from the conventional PUMA robot by addition of a joint parallel to the elbow joint. For redundancy resolution the following approach is chosen. From the position and pointing direction of the end effector of the PUMA robot the position and orientation of the fourth link of a 4R-manipulato? is calculated and the redundancy is resolved for this manipulator. This is done by adding an equation to the relationship between the joint angles and position and orientation of the fourth link. By this approach a control strategy is derived that allows motions of the end effector of the PUMA robot in a large part of its work space and shows repeatable behaviour. Furthermore, the redundancy is utilized so that the fiexture of the wrist is kept small.

Keywords

Control strategyRedundant manipulatorPuma robotEnd effector.
Type
Article
Information
Robotica , Volume 12 , Issue 4 , July 1994 , pp. 361 - 369
Copyright
Copyright © Cambridge University Press 1994

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Klein, C.A. and Huang, C.H., “Review of Pseudoinverse Control for Use with Kinematically Redundant Manipulators” IEEE Trans. Sys. Man and Cybernetics SMC-13(3), 245–250 (03/04, 1983).CrossRefGoogle Scholar
2.Baker, D.R. and Wampler, C.W., “On the Inverse Kinematics of Redundant Manipulators” Int. J. Robotics Res. 7(2), 3–21 (1988).CrossRefGoogle Scholar
3.Shamir, T. and Yomdin, Y., “Repeatability of Redundant Manipulators: Mathematical Solution of the Problem” IEEE Trans. Autom. Control AC-33(11), 1004–1009 (11, 1988).CrossRefGoogle Scholar
4.Hollerbach, J.M., “Optimum Kinematic Design for a Seven Degree of Freedom Manipulator” In: (Hanafusa, H. and Inoue, H., eds.) Robotics Research—The Second International Symposium (1985) pp. 215–222.Google Scholar
5.Dubey, R.V., Euler, J.A. and Babcock, S.M., “Real-Time Implementation of an Optimization Scheme for SevenDegree-of-Freedom Redundant Manipulators” IEEE Trans. Robotics and Automation RA-7(5), 579–588 (10, 1991).CrossRefGoogle Scholar
6.Chiaverini, S., Siciliano, B. and Egeland, O., “Redundancy Resolution for the Human-Arm-Like Manipulator” Robotics and Autonomous Systems 8, 239–250 (1991).CrossRefGoogle Scholar
7.Chang, P.H., “A Closed Form Solution for the Control of Manipulators with Kinematic Redundancy” Proc. IEEE Int. Conf. Robotics Automat., 9–14 (1986).Google Scholar