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SME MS94-237
- Oscar--Optimization Strategy For Control Of Redundant Articulated Robots
- standard by Society of Manufacturing Engineers, 06/01/1994
- Publisher: SME
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ROBOTS WITH REDUNDANT KINEMATICS GET MORE AND MORE IMPORTANT FOR REMOTE OPERATIONS IN HOSTILE ENVIRONMENT, ESPECIALLY DUE TO THEIR FLEXIBILITY IN OPERATING IN CONFINED WORKSPACES. THIS PAPER DESCRIBES A NEW SYSTEM OSCAR WHICH IS ABLE TO CONTROL ARBITRARY (REDUNDANT OR NON-REDUNDANT) ROBOTS. OSCAR IS BASED ON AN OPTIMIZATION APPROACH. IT TAKES INTO ACCOUNT VARIOUS CRITERIA TO CONTROL THE CONFIGURATION OF REDUNDANT ROBOTS AND REGARDS KINEMATICAL AND TECHNOLOGICAL RESTRICTIONS.
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