set of new iterative solutions to the inverse geometric problem, well suited for kinematically redundant manipulators, is also presented. ∗

performance. A set of new iterative solutions to the inverse geometric problem, well suited for kinematically redundant manipulators, is also presented. I.

This paper studies the effects of three methods of kinematic redundancy resolution on teleoperation performance with a redundant slave robot in telemanipulation. First, we derived three kinematic redundancy control modes expressing different trade-offs between kinetic energy level, joint usage

The velocity control of kinematically redundant manipulators has been addressed through a variety of approaches. Though they differ widely in their purpose and method of implementation, most are optimizations that can be characterized by Ligeois's method. This characterization is used

Problems arising when kinematically redundant manipulators are controlled using the Jacobian pseudoinverse are related to the non-integrability of the standard pseudo-inverse. This paper presents a class of generalized inverses which have the property of being integrable within any simply connected

or in cooperation with man. The thesis covers cooperation between multiple robots and lays stress on robots with kinematic redundancy. As highly demanding application area, optimal design and preoperative planning for minimally invasive and open robotic surgery is chosen. Optimization and planning of robotic

A kinematically redundant manipulator is a robotic system that has more than the minimum number of degrees of freedom that are required for a specified task. Due to this additional freedom, control strategies may yield solutions which are not repeatable in the sense that the manipulator may

A c1osed-form solution formula for the kinematic control of manipulators with redundancy is derived, using the Lagrangian multiplier method. Differential relationship equivalent to the Resolved Motion Method has been also derived. The proposed method is proved to provide with the exact equilibrium

This work studies the degree to which the kinematic redundancy of a manipulator may be utilized for failure tolerance. A redundant manipulator is considered to be fault tolerant with respect to a given task if it is guaranteed to be capable of performing the task after any one of its joints has

and stiffness to the lengths of the muscles is considered. We show that a previously proposed algorithm for control of multi-joint limbs (Berkinblit et ai. 1986a, Hinton 1984) ill in fact a special case ofthis mapping. We contend that these kinematic maps must be augmented by a mechanism that takes into account