%0 Journal Article
%T An Extended Form of Damped Pseudoinverse Control of Kinematically Redundant Manipulators<br>用阻尼伪逆法控制冗余度机器人的一种新方案
%A HUANG LEIGUANG
%A LI YAOTONG
%A <br>黄磊光
%A 李耀通
%J 自动化学报
%D 1998
%I 
%X A damped pseudoinverse kinematic control scheme with optimization of secondary performance criterion is presented,which can be treated as an extended form of conventional damped pseudoinverse solutions.With the scheme and the method of selecting damping and optimizaton factors proposed here,the manipulator's dexterity is expected on be exploited more effectively.Based on the singular value decomposition(SVD) methods,and efficient parallel algorithm is provided in order to implement the control scheme in real control systems.Simulations show the advatages of the scheme over other relative ones.
%K Kinematically redundant manipulators
%K trajectory planning
%K damped pseudoinverse control
%K damped least squares method<br>冗余度机器人
%K 轨迹规划
%K 阻尼伪逆控制
%K 机器人
%U http://www.alljournals.cn/get_abstract_url.aspx?pcid=5B3AB970F71A803DEACDC0559115BFCF0A068CD97DD29835&cid=8240383F08CE46C8B05036380D75B607&jid=E76622685B64B2AA896A7F777B64EB3A&aid=601C7519F4250EEC&yid=8CAA3A429E3EA654&vid=B91E8C6D6FE990DB&iid=38B194292C032A66&sid=0C3F9E980968AF79&eid=3224764AEAFCF8C2&journal_id=0254-4156&journal_name=自动化学报&referenced_num=2&reference_num=5