Natural Resolution of Ill-Posedness of Inverse Kinematics for Redundant Robots Under Constraints

摘要: In order to enhance dexterity in execution of robot tasks, a redundant number degrees-of-freedom (DOF) is adopted for design robotic mechanisms like arms and multi- fingered hands. Associated with such redundancy DOFs relative the physical variables necessary sufficient description given task, an extra performance index in- troduced controlling avoid arising ill-posedness inverse kinematics from task space joint space. This paper shows that prob- lem DOF can be resolved natural way on basis construction sensory feedback signals novel concept named "stability manifold". To show this, two illustrative tasks are analyzed details, which 1) posture control object via rolling contact by multi-DOF finger 2) stable pinching manipulation pair fingers.