Abstract
Kinematic redundancy has been widely used in manipulator design. Nevertheless, the control of redundancy is a tough task. This paper proposed a control method for serial kinematic redundant manipulators in consideration of multiple performance criteria. The method is based on the classical gradient projection method, and in order to handle the relations between different performance criteria, a combination of task priority strategy and fuzzy inference is used. The method is applied to a 10 DOFs (degrees of freedom) manipulator as an example to illustrate its efficiency.
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Acknowledgment
This project is supported by the National Key Scientific and Technological Project (Grant No. 2015ZX04005006) and Sino-German (CSC-DAAD) Postdoc Scholarship Program 2014 (Grant No. 57165010).
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Bi, W., Liu, XJ., Xie, F., Ding, W. (2017). Motion Control Strategy of Redundant Manipulators Based on Dynamic Task-Priority. In: Huang, Y., Wu, H., Liu, H., Yin, Z. (eds) Intelligent Robotics and Applications. ICIRA 2017. Lecture Notes in Computer Science(), vol 10463. Springer, Cham. https://doi.org/10.1007/978-3-319-65292-4_74
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DOI: https://doi.org/10.1007/978-3-319-65292-4_74
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