Kinematic Control of Robot With Degenerate Wrist

Abstract

Kinematic resolved-rate equations allow an operator with visual feedback to dynamically control a robot hand. However, when the robot wrist is degenerate, the computed joint angle rates exceed operational limits, and unwanted hand movements can result. The generalized matrix inverse solution can also produce unwanted responses. In this paper, a new method is introduced to control the robot hand in the region of the degenerate robot wrist. The method uses a coordinated movement of the first and third joints of the robot wrist to locate the second wrist joint axis for movement of the robot hand in the commanded direction. There is a brief delay for the coordinated movement (which is accomplished in an optimal manner). The method does not entail infinite joint angle rates and appears to be a beneficial method of control.

Open PDF

Document Details

Document Type
Technical Report
Publication Date
Jul 01, 1984
Accession Number
ADA363743

Entities

People

  • L. K. Barker
  • Mary C. Moore

Organizations

  • National Aeronautics and Space Administration

Tags

Communities of Interest

  • Autonomy

DTIC Thesaurus Topics

  • Aeronautics
  • Body Regions
  • Control
  • Control Systems
  • Coordinate Systems
  • Equations
  • Feedback
  • Geometry
  • Joints
  • Joints (Anatomy)
  • Laboratory Tests
  • Orientation (Direction)
  • Photographs
  • Robots
  • Rotation
  • Shoulder

Readers

  • Computer Vision.
  • Control Systems Engineering.
  • Exercise and Sports Science.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • AI & ML - Bayesian Inference
  • AI & ML - Machine Learning Algorithms
  • Autonomy