Review of pseudoinverse control for use with kinematically redundant manipulators
作者： Charles A. Klein , Ching-Hsiang Huang
DOI: 10.1109/TSMC.1983.6313123
关键词:
摘要: Kinematically redundant manipulators have a number of potential advantages over current manipulator designs. For this type arm, velocity control through pseudoinverses is suggested. Questions associated with pseudoinverse are examined in detail and show that some cases leads to undesired arm configurations. A method for distributing joint angles good approximation true minimax criterion described. In addition several numerical considerations discussed.
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