Kinematic Control of Robot with Degenerate Wrist

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National Aeronautics and Space Administration, Scientific and Technical Information Branch, 1984 - Bionics - 34 pages
Kinematic resolved-rate equations allow an operator with visual feedback to dynamically control a robot hand. However, when the robot wrist is degenerate, the computed joint angle rates exceed operational limits, and unwanted hand movements can result. The generalized matrix inverse solution can also produce unwanted responses. In this paper, a new method is introduced to control the robot hand in the region of the degenerate robot wrist. The method uses a coordinated movement of the first and third joints of the robot wrist to locate the second wrist joint axis for movement of the robot hand in the commanded direction. There is a brief delay for the coordinated movement (which is accomplished in an optimal manner). The method does not entail infinite joint angle rates and appears to be a beneficial method of control.

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Contents

Section 1
21
Section 2
22
Section 3
23

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