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Control strategy for a redundant PUMA manipulator *

Published online by Cambridge University Press:  09 March 2009

Helmut Allgeuer
Helmut Allgeuer
Affiliation:
Soellnergasse 2–4/2/20, A-1030 Vienna (Austria)
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Summary

In this paper a control strategy for a redundant PUMA robot is presented. This robot is obtained from the conventional PUMA robot by addition of a joint parallel to the elbow joint. For redundancy resolution the following approach is chosen. From the position and pointing direction of the end effector of the PUMA robot the position and orientation of the fourth link of a 4R-manipulato? is calculated and the redundancy is resolved for this manipulator. This is done by adding an equation to the relationship between the joint angles and position and orientation of the fourth link. By this approach a control strategy is derived that allows motions of the end effector of the PUMA robot in a large part of its work space and shows repeatable behaviour. Furthermore, the redundancy is utilized so that the fiexture of the wrist is kept small.

Keywords

Control strategyRedundant manipulatorPuma robotEnd effector.
Type
Article
Information
Robotica , Volume 12 , Issue 4 , July 1994 , pp. 361 - 369
Copyright
Copyright © Cambridge University Press 1994

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References

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