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Introduction to Autonomous Manipulation pp 53–78Cite as

Kinematic Control

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Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 102))

Abstract

The primary purpose of an autonomous manipulation system is to perform intervention tasks with a limited exchange of information between the manipulator and the human supervisor. The information passed to the main control system is often only a high level decision command, and the controller must be capable of following the command by providing reliable control references to the actuators.

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Notes

  1. 1.

    In case that \(\left\| \frac{\partial m \left( \varvec{q} \right) }{\partial \varvec{q}} \varvec{J}^+ \right\| = 0\), the normal (3.44) is not defined. However this means that, locally, \(\delta m \left( \varvec{q} \right) = 0\) in every direction, thus the value of \(\varvec{n}_m\) is not important.

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Authors and Affiliations

  1. West Virginia Robotic Technology Center, West Virginia University Research Corporation, Fairmont, WV, USA

    Giacomo Marani

  2. National Agenda Research Division, Korea Institute of Science and Technology, Seoul, Korea

    Junku Yuh

Authors
  1. Giacomo Marani
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  2. Junku Yuh
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Correspondence to Giacomo Marani .

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Marani, G., Yuh, J. (2014). Kinematic Control. In: Introduction to Autonomous Manipulation. Springer Tracts in Advanced Robotics, vol 102. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-54613-6_3

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  • DOI: https://doi.org/10.1007/978-3-642-54613-6_3

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