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On Accuracy Control Aspects of Kinematically Redundant Robots

  • A. Moshaiov
Conference paper

Abstract

Redundant robots possess at least one degree of freedom more than the minimum required to both position and orient an object at an arbitrary location. Such robots are expected to become popular in the coming future due to their increased flexibility which includes the ability to avoid internal singularities and external obstacles in the workspace. Because of these advantages, an increasing amount of research has focused on kinematically redundant manipulators, and the progress in this field has been rapid. In this paper accurate positioning of redundant manipulators is discussed. The existing knowledge on positioning errors, their magnitude and calibration, in non-redundant robots, is reviewed. It is followed by a similar review on kinematic resolution of redundant manipulators. Based on this knowledge some criteria for optimal kinematic control of redundant manipulators are explored. It is shown that either a local or a global optimal strategy, based on positioning errors, can be used to improve positioning accuracy and to resolve redundancy.

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Copyright information

© Springer-Verlag Wien 1991

Authors and Affiliations

  • A. Moshaiov
    • 1
  1. 1.Department of Mechanics Materials and StructuresTel-Aviv UniversityTel-AvivIsrael

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