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Compensating Joint Configuration through Null Space Control in Composite Weighted Least Norm Solution
Avik Chatterjee, S. Majumder, I. Basak
Pages - 31 - 43     |    Revised - 15-05-2013     |    Published - 30-06-2013
Volume - 4   Issue - 1    |    Publication Date - June 2013  Table of Contents
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KEYWORDS
Null Space Controller, Weighted Least Norm, Joint Limit, Singularity, Joint Configuration.
ABSTRACT
We have presented a methodology for compensating joint configuration by composite weighting in different sub spaces. It augments the weighted least norm solution by weighted residual of the current joint rate and preferred pose rate in null space, so that we can arrive at a solution which is able to handle both joint limits and preferred joint configuration simultaneously satisfying the primary task. The null space controller is formulated in conjunction with the work space controller to achieve the objective. The contribution of null space has been discussed in the formulation in two different situations including joint limits, workspace and near configuration singularities.
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Mr. Avik Chatterjee
CSIR-CMERI - India
avik@cmeri.res.in
Dr. S. Majumder
CSIR-CMERI - India
Professor I. Basak
National Institute of Technology (NIT) - India