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Exploiting the Redundancy of a Hand-Arm Robotic System

In this report, a method for exploiting the redundancy of a hand-arm mechanical system for manipulation tasks is illustrated. The basic idea is to try to exploit the different intrinsic capabilities of the arm and hand subsystems. The Jacobian transpose technique is at the core of the method: different behaviors of the two subsystems are obtained by means of constraints in Null(J) generated by non-orthogonal projectors. Comments about the computation of the constraints are reported in the memo, as well as a description of some preliminary experiments on a robotic system at the A.I. Lab., M.I.T.

Identiferoai:union.ndltd.org:MIT/oai:dspace.mit.edu:1721.1/5998
Date01 October 1990
CreatorsMelchiorri, Claudio, Salisbury, J.K.
Source SetsM.I.T. Theses and Dissertation
Languageen_US
Detected LanguageEnglish
Format27 p., 3126854 bytes, 1194231 bytes, application/postscript, application/pdf
RelationAIM-1261

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