A model-free redundancy resolution technique for visual motor coordination of a 6 DOF robot manipulator

Swagat Kumar, Amit Shukla, Ashish Dutta, Laxmidhar Behera

Research output: Chapter in Book/Report/Conference proceedingChapter

2 Citations (Scopus)

Abstract

In this paper, visual motor coordination of a 6 DOF robot manipulator is considered. It is difficult to analytically derive inverse kinematic relationships for such manipulators. The problem becomes more challenging owing to the presence of multiple solutions for the inverse-kinematic relationship between robot end-effector position and joint angle vector. Many of the current redundancy resolution techniques necessitate explicit orientation information which cannot be obtained from visual feedback. Hence such techniques cannot be used for visual motor coordination of redundant manipulators. In this paper, it is demonstrated that a feasible inverse kinematic solution may be obtained by using input-output space clustering along with the KSOM algorithm. The method is innovative in the sense that it does not require any orientation information for resolving redundancy and it is model-independent. The efficacy of the proposed method is illustrated through simulations on a 6 DOF PUMA 560 manipulator model. ?2007 IEEE.
Original languageEnglish
Title of host publication22nd IEEE International Symposium on Intelligent Control, ISIC 2007. Part of IEEE Multi-conference on Systems and Control
Pages544-549
Number of pages6
DOIs
Publication statusPublished - 12 Feb 2008
Event2007 IEEE 22nd International Symposium on Intelligent Control - , Singapore
Duration: 13 Oct 2007 → …

Publication series

Name22nd IEEE International Symposium on Intelligent Control, ISIC 2007. Part of IEEE Multi-conference on Systems and Control

Conference

Conference2007 IEEE 22nd International Symposium on Intelligent Control
CountrySingapore
Period13/10/07 → …

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    Kumar, S., Shukla, A., Dutta, A., & Behera, L. (2008). A model-free redundancy resolution technique for visual motor coordination of a 6 DOF robot manipulator. In 22nd IEEE International Symposium on Intelligent Control, ISIC 2007. Part of IEEE Multi-conference on Systems and Control (pp. 544-549). (22nd IEEE International Symposium on Intelligent Control, ISIC 2007. Part of IEEE Multi-conference on Systems and Control). https://doi.org/10.1109/ISIC.2007.4450944