The extended Jacobian is a technique for solving the redundancy of redundant robots. It is based on the definition of secondary tasks, through constraint functions that are added to the mapping between joint rates and end-effector's twist. Several approaches showed its potential, applications, and limitations. In general, the constraint functions are a linear combination of basic functions with constant coefficients. This paper proposes the use of adaptive coefficients in such functions by using the conditioning index of the extended Jacobian as a quality measure. A good conditioning index of the extended Jacobian keeps the robot far from singularities and contributes to the solution of the inverse kinematics. In this paper, initially, the extended Jacobian and the proposed algorithm are discussed, and then, two tests in different circumstances are presented in order to validate the proposal.
A Technique Based on Adaptive Extended Jacobians for Improving the Robustness of the Inverse Numerical Kinematics of Redundant Robots
Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANISMS AND ROBOTICS. Manuscript received January 4, 2019; final manuscript received January 10, 2019; published online February 25, 2019. Assoc. Editor: Clement Gosselin.
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Simas, H., and Di Gregorio, R. (February 25, 2019). "A Technique Based on Adaptive Extended Jacobians for Improving the Robustness of the Inverse Numerical Kinematics of Redundant Robots." ASME. J. Mechanisms Robotics. April 2019; 11(2): 020913. https://doi.org/10.1115/1.4042514
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