Kinematic Control of Redundant Manipulators
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comunitat-uji-handle2:10234/71345
comunitat-uji-handle3:10234/174286
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TFG-TFMMetadata
Title
Kinematic Control of Redundant ManipulatorsAuthor (s)
Tutor/Supervisor; University.Department
Cervera Mateu, Enric; Casalino, Giuseppe; Universitat Jaume I. Departament d'Enginyeria i Ciència dels ComputadorDate
2017-07-07Publisher
Universitat Jaume IAbstract
While most manipulators have enough degrees of freedom (DOFs) to perform
tasks in their end-effector task space (desired position and orientation), their workspace
is limited due to mechanical joint constraints and ... [+]
While most manipulators have enough degrees of freedom (DOFs) to perform
tasks in their end-effector task space (desired position and orientation), their workspace
is limited due to mechanical joint constraints and obstacles that may be present in the
work space. Redundant manipulators have extra DOFs than required for reaching
the desired position and orientation of the end-effector. This allows the redundant
manipulators to use the extra DOFs to avoid their joint limits and obstacles in the
workspace, while still reaching a desired end-effector pose in the task space.
The objective of the thesis is to implement and analyze the performance of most
common methods for redundancy resolution with respect to algorithmic and kinematic
singularity, and incorporation of different additional desired tasks, e.g., joint
limit avoidance, singularity avoidance. Moreover, wrist mounted force/torque sensor
is calibrated and used to detect the contact with the objects in the environment
and for the robust extraction of the object during picking and stowing operations.
The thesis is a part of work done for Amazon Robotics Challenge 2017. [-]
Subject
Description
Treball de Final de Màster Universitari Erasmus Mundus en Robòtica Avançada. Curs acadèmic 2016-2017
Type
info:eu-repo/semantics/masterThesisRights
info:eu-repo/semantics/openAccess
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