SYSTEMS AND METHODS FOR USING NULL SPACE TO EMPHASIZE MANIPULATOR JOINT MOTION ANISOTROPICALLY

摘要

To provide methods of providing a commanded movement of an end effector of a manipulator while providing a desired movement of one or more joints of the manipulator.SOLUTION: Methods include calculating weighted joint velocities using a weighting matrix within the joint space to anisotropically emphasize joint movement within a null-space to provide the desired movement of a first set of joints. Methods may include calculating joint velocities that achieve the desired end effector movement using a pseudo-inverse matrix solution and adjusting the calculated joint velocities using a potential function gradient within the joint space corresponding to the desired movement of the first set of joints. Methods may include use of a weighted pseudo-inverse matrix solution and also an augmented Jacobian solution. One or more auxiliary movements may also be provided using joint velocities calculated from the pseudo-inverse matrix solution.SELECTED DRAWING: Figure 14