Manipulability analysis for control of a constrained serial planar redundant manipulator
Felipe Figueiredo Cardoso1; Fernando Lizarralde2
1 PETROBRAS, Universidade PETROBRAS, Rio de Janeiro/RJ; 2 Programa de Engenharia Elétrica - COPPE, Universidade Federal do Rio de Janeiro, Rio de Janeiro/RJ
Resumo
This article presents an analysis for control of a constrained serial planar redundant manipulator in operational space. A constraint of one dimension is considered to the manipulator chain and the constrained Jacobian matrix is found for a further analysis of manipulability. Based on a modi ed Jacobian a control scheme is proposed where the end-e ector follows a prede ned trajectory. Simulation in software and experiment in a real robot are performed in order to validate the study.
Palavras-chave: manipulability; constrained planar robotic manipulators; trajectory tracking