Redundant Manipulator Kinematics and Dynamics on Differentiable Manifolds

A recently published treatment of nonredundant manipulator kinematics and dynamics on differentiable manifolds is extended to kinematically redundant manipulators. Analysis at the configuration level shows that forward kinematics and dynamics of redundant manipulators are identical to that for nonre...

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Detalles Bibliográficos
Autores: Haug, Edward J., Peidró, Adrián
Tipo de recurso: artículo
Fecha de publicación:2022
País:España
Institución:Universidad Miguel Hernández de Elche
Repositorio:REDIUMH. Depósito Digital de la UMH
OAI Identifier:oai:dnet:rediumh_____::8ff79cc40246ee6611f8ff2a05b78bdc
Acceso en línea:https://hdl.handle.net/11000/39740
Access Level:acceso abierto
Palabra clave:redundant manipulators
differentiable manifolds
inverse kinematics
manipulator dynamics
obstacle avoidance
CDU::6 - Ciencias aplicadas::62 - Ingeniería. Tecnología::621 - Ingeniería mecánica en general. Tecnología nuclear. Electrotecnia. Maquinaria
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spelling Redundant Manipulator Kinematics and Dynamics on Differentiable ManifoldsHaug, Edward J.Peidró, Adriánredundant manipulatorsdifferentiable manifoldsinverse kinematicsmanipulator dynamicsobstacle avoidanceCDU::6 - Ciencias aplicadas::62 - Ingeniería. Tecnología::621 - Ingeniería mecánica en general. Tecnología nuclear. Electrotecnia. MaquinariaA recently published treatment of nonredundant manipulator kinematics and dynamics on differentiable manifolds is extended to kinematically redundant manipulators. Analysis at the configuration level shows that forward kinematics and dynamics of redundant manipulators are identical to that for nonredundant manipulators. The manifold-based inverse kinematics formulation that is presented for redundant manipulators, in contrast, yields parameterizations of set-valued inverse kinematic mappings at the configuration level, where sharper results are obtained than those presented in the literature using velocity formulations. Explicit expressions are derived for set-valued inverse kinematic mappings for both serial and non-serial (called compound) kinematically redundant manipulators, as functions of vectors of arbitrary parameters. Parameterizations are presented for both manipulator regular configuration manifolds and self-motion manifolds, the latter comprised of sets of inputs that map into the same output. It is shown that kinematically redundant configuration manifolds and self-motion differentiable manifolds are distinctly different and play complementary roles in redundant manipulator kinematics. Computational methods are presented for evaluation of set-valued inverse kinematic mappings, without problem dependent ad-hoc analytical manipulations. Redundant serial and compound manipulator examples are presented to illustrate computation of set-valued inverse kinematic mappings and use of self-motion manifold mappings in obstacle avoidance applications. Differentiation of configuration level inverse mappings yields inverse velocity and acceleration mappings as functions of time dependent arbitrary parameters that play a central role in manipulator dynamics and control.The American Society of Mechanical EngineersDepartamentos de la UMH::Ingeniería de Sistemas y Automática202620262022info:eu-repo/semantics/articleapplication/pdf32application/pdfhttps://hdl.handle.net/11000/39740reponame:REDIUMH. Depósito Digital de la UMHinstname:Universidad Miguel Hernández de ElcheIngléshttps://doi.org/10.1115/1.4055313info:eu-repo/semantics/openAccesshttp://creativecommons.org/licenses/by-nc-nd/4.0/oai:dnet:rediumh_____::8ff79cc40246ee6611f8ff2a05b78bdc2026-05-27T13:36:21Z
dc.title.none.fl_str_mv Redundant Manipulator Kinematics and Dynamics on Differentiable Manifolds
title Redundant Manipulator Kinematics and Dynamics on Differentiable Manifolds
spellingShingle Redundant Manipulator Kinematics and Dynamics on Differentiable Manifolds
Haug, Edward J.
redundant manipulators
differentiable manifolds
inverse kinematics
manipulator dynamics
obstacle avoidance
CDU::6 - Ciencias aplicadas::62 - Ingeniería. Tecnología::621 - Ingeniería mecánica en general. Tecnología nuclear. Electrotecnia. Maquinaria
title_short Redundant Manipulator Kinematics and Dynamics on Differentiable Manifolds
title_full Redundant Manipulator Kinematics and Dynamics on Differentiable Manifolds
title_fullStr Redundant Manipulator Kinematics and Dynamics on Differentiable Manifolds
title_full_unstemmed Redundant Manipulator Kinematics and Dynamics on Differentiable Manifolds
title_sort Redundant Manipulator Kinematics and Dynamics on Differentiable Manifolds
dc.creator.none.fl_str_mv Haug, Edward J.
Peidró, Adrián
author Haug, Edward J.
author_facet Haug, Edward J.
Peidró, Adrián
author_role author
author2 Peidró, Adrián
author2_role author
dc.contributor.none.fl_str_mv Departamentos de la UMH::Ingeniería de Sistemas y Automática
dc.subject.none.fl_str_mv redundant manipulators
differentiable manifolds
inverse kinematics
manipulator dynamics
obstacle avoidance
CDU::6 - Ciencias aplicadas::62 - Ingeniería. Tecnología::621 - Ingeniería mecánica en general. Tecnología nuclear. Electrotecnia. Maquinaria
topic redundant manipulators
differentiable manifolds
inverse kinematics
manipulator dynamics
obstacle avoidance
CDU::6 - Ciencias aplicadas::62 - Ingeniería. Tecnología::621 - Ingeniería mecánica en general. Tecnología nuclear. Electrotecnia. Maquinaria
description A recently published treatment of nonredundant manipulator kinematics and dynamics on differentiable manifolds is extended to kinematically redundant manipulators. Analysis at the configuration level shows that forward kinematics and dynamics of redundant manipulators are identical to that for nonredundant manipulators. The manifold-based inverse kinematics formulation that is presented for redundant manipulators, in contrast, yields parameterizations of set-valued inverse kinematic mappings at the configuration level, where sharper results are obtained than those presented in the literature using velocity formulations. Explicit expressions are derived for set-valued inverse kinematic mappings for both serial and non-serial (called compound) kinematically redundant manipulators, as functions of vectors of arbitrary parameters. Parameterizations are presented for both manipulator regular configuration manifolds and self-motion manifolds, the latter comprised of sets of inputs that map into the same output. It is shown that kinematically redundant configuration manifolds and self-motion differentiable manifolds are distinctly different and play complementary roles in redundant manipulator kinematics. Computational methods are presented for evaluation of set-valued inverse kinematic mappings, without problem dependent ad-hoc analytical manipulations. Redundant serial and compound manipulator examples are presented to illustrate computation of set-valued inverse kinematic mappings and use of self-motion manifold mappings in obstacle avoidance applications. Differentiation of configuration level inverse mappings yields inverse velocity and acceleration mappings as functions of time dependent arbitrary parameters that play a central role in manipulator dynamics and control.
publishDate 2022
dc.date.none.fl_str_mv 2022
2026
2026
dc.type.none.fl_str_mv info:eu-repo/semantics/article
format article
dc.identifier.none.fl_str_mv https://hdl.handle.net/11000/39740
url https://hdl.handle.net/11000/39740
dc.language.none.fl_str_mv Inglés
language_invalid_str_mv Inglés
dc.relation.none.fl_str_mv https://doi.org/10.1115/1.4055313
dc.rights.none.fl_str_mv info:eu-repo/semantics/openAccess
http://creativecommons.org/licenses/by-nc-nd/4.0/
eu_rights_str_mv openAccess
rights_invalid_str_mv http://creativecommons.org/licenses/by-nc-nd/4.0/
dc.format.none.fl_str_mv application/pdf
32
application/pdf
dc.publisher.none.fl_str_mv The American Society of Mechanical Engineers
publisher.none.fl_str_mv The American Society of Mechanical Engineers
dc.source.none.fl_str_mv reponame:REDIUMH. Depósito Digital de la UMH
instname:Universidad Miguel Hernández de Elche
instname_str Universidad Miguel Hernández de Elche
reponame_str REDIUMH. Depósito Digital de la UMH
collection REDIUMH. Depósito Digital de la UMH
repository.name.fl_str_mv
repository.mail.fl_str_mv
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score 15,811543

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