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SYSTEMS FOR USING THE NULL SPACE TO EMPHASIZE ANIPULATOR JOINT MOTION ANISOTROPICALLY
SYSTEMS FOR USING THE NULL SPACE TO EMPHASIZE ANIPULATOR JOINT MOTION ANISOTROPICALLY
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机译:使用NULL空间来强调Aipulator联合运动的系统
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摘要
Devices, systems, and methods for providing commanded movement of an end effector of a manipulator while providing a desired movement of one or more joints of the manipulator. 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 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 solution and also an augmented Jacobian solution. One or more auxiliary movements may also be provided using joint velocities calculated from the pseudo-inverse solution. Various configurations for systems utilizing such methods are provided herein.
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