| Summary: | 碩士 === 國立中興大學 === 機械工程學系所 === 104 === In this thesis, we consider task-space velocity control for the redundant KUKA LWR4 robots. First, we use the Denavit-Hartenberg method to define the coordinate frames of the links and their link parameters, and derive the forward kinematics of the 7-axis manipulator. Then based on the limits of joint angle, velocity and acceleration, the dynamic constraints of the joint velocity commands can be calculated.
Based on the velocity relations between task space and joint space, the joint velocity commands can be computed using the task space velocity commands. If the joint velocity commands exceed their limits, the SNS (Saturation in the Null Space) algorithm is adopted to find new velocity commands satisfying the dynamic constraints.
Finally, computer simulations are conducted to illustrate the performance of the proposed control strategies. In the simulations, the desired trajectories are generated by using the cubic spline method.
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