Abstract
In the growing field of service robotics, redundant manipulator arms provide enormous advantages compared to their non—redundant counterparts. But the fact that no intuitive approaches exist for handling highly redundant robots hinders the breakthrough of such superior mechanisms. In this paper a general algorithm is proposed which allows the intuitive configuration manipulation of a redundant robot during a teach phase. The proposed algorithm enables a teacher to handle highly redundant manipulators (DoF ≫ 6)in a natural way using the same teach-device as used in TCP teaching.
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© 2000 Springer Science+Business Media Dordrecht
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Schreiber, G., Hirzinger, G. (2000). An Intuitive Interface for Nullspace Teaching of Redundant Robots. In: Lenarčič, J., Stanišić, M.M. (eds) Advances in Robot Kinematics. Springer, Dordrecht. https://doi.org/10.1007/978-94-011-4120-8_22
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DOI: https://doi.org/10.1007/978-94-011-4120-8_22
Publisher Name: Springer, Dordrecht
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