Review of pseudoinverse control for use with kinematically redundant manipulators

Klein, Charles A.; Huang, Chao‐Min

doi:10.1109/tsmc.1983.6313123

Cited by 1,015 publications

(386 citation statements)

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“…However, difficulties arise from the selection of this inverse, as Klein and Huang (1983) and Mussa-Ivaldi and Hogan (1991) discuss in the context of the control of a robotic arm. In particular, the MP pseudoinverse does not produce the same articulator configuration each time it returns to a given point in the planning space.…”

Section: Approximate Invariance Of Constriction Locations and Degreesmentioning

confidence: 99%

A theoretical investigation of reference frames for the planning of speech movements.

Guenther

Hampson²,

Johnson³

1998

Psychological Review

354

303

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Does the speech motor control system utilize invariant vocal tract shape targets of any kind when producing phonemes? We present a four-part theoretical treatment favoring models whose only invariant targets are auditory perceptual targets over models that posit invariant constriction targets. When combined with earlier theoretical and experimental results (Guenther, 1995a,b; Perkell eta!., 1993; Savariaux et a!., 1995a,b), our hypothesis is that, for vowels and semi-vowels at least, the only invariant targets of the speech production process are multidimensional regions in auditory perceptual space. These auditory perceptual target regions are hypothesized to arise during development as an emergent property of neural map formation in the auditory system (Guenther and Gjaja, 1996), as evidenced by the perceptual magnet effect. Furthermore, speech movements are planned as trajectories in auditory perceptual space. These trajectories are then mapped into articulator movements through a neural mapping that allows motor equivalent variability in constriction locations and degrees when needed, but maintains approximate constriction invariance for a given sound in most instances. These hypotheses are illustrated and substantiated using computer simulations of the DIVA model of speech acquisition and production. Finally, we pose several difficult challenges to proponents of constriction theories based on this theoretical treatment. Speech reference frames

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Section: Approximate Invariance Of Constriction Locations and Degreesmentioning

confidence: 99%

A theoretical investigation of reference frames for the planning of speech movements.

Guenther

Hampson²,

Johnson³

1998

Psychological Review

354

303

View full text Add to dashboard Cite

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“…On a kinematic level, the most common approach is to use a Jacobian-based method as a mapping from operational to joint space [4]- [6]. In particular, the pseudo-inverse Jacobian is defined for systems that are not square or have full rank, and is a widely used solution to the inverse kinematics problem [7]- [9].…”

Section: Introductionmentioning

confidence: 99%

Experimental results for set-based control within the singularity-robust multiple task-priority inverse kinematics framework

Moe

Antonelli

Pettersen

et al. 2015

2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)

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Abstract-Inverse kinematics algorithms are commonly used in robotic systems to achieve desired behavior, and several methods exist to ensure the achievement of numerous tasks simultaneously. The multiple task-priority inverse kinematics framework allows a consideration of tasks in a prioritized order by projecting task velocities through the null-spaces of higher priority tasks. Recent results have extended this framework from equality tasks to also handling set-based tasks, i.e. tasks that have an interval of valid values. The purpose of this paper is to further investigate and experimentally validate this algorithm and its properties. In particular, this paper presents experimental results where a number of both set-based and equality tasks have been implemented on the 6 Degree of Freedom UR5 which is an industrial robotic arm from Universal Robots. The experiments validate the theoretical results.

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“…4. For redundant manipulators, J is not square, but both the Newton-Raphson and differential-equations-based approaches can be extended to redundant manipulators using J + , the pseudo-inverse [9], or the weighted pseudo-inverse in place of J −1 [8,16].…”

Section: Numerical Algorithmsmentioning

confidence: 99%

Real-Time Inverse Kinematics Techniques for Anthropomorphic Limbs

2000

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In this paper we develop a set of inverse kinematics algorithms suitable for an anthropomorphic arm or leg. We use a combination of analytical and numerical methods to solve generalized inverse kinematics problems including position, orientation, and aiming constraints. Our combination of analytical and numerical methods results in faster and more reliable algorithms than conventional inverse Jacobian and optimization-based techniques. Additionally, unlike conventional numerical algorithms, our methods allow the user to interactively explore all possible solutions using an intuitive set of parameters that define the redundancy of the system.

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Review of pseudoinverse control for use with kinematically redundant manipulators

Cited by 1,015 publications

References 0 publications

A theoretical investigation of reference frames for the planning of speech movements.

A theoretical investigation of reference frames for the planning of speech movements.

Experimental results for set-based control within the singularity-robust multiple task-priority inverse kinematics framework

Real-Time Inverse Kinematics Techniques for Anthropomorphic Limbs

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