Mathematica Code for Redundant Manipulator Simulations
The following are various simulations and animations illustrating
different properties of redundant manipulators.
- Jacobian pseudo-inverse example.
- Jacobian weighted pseudo-inverse example. Change the W matrix
to affect the speed of individual joints. To see a particular
joint velocity reduced, provide a relatively high value to the
corresponding location in the W matrix. If W is the identity
matrix, you should see exactly the same results as in the
- Self-motion example.
- Null-space projection algorithm example where manipulator hits an
obstacle by only using the pseudo-inverse.
- Null-space projection algorithm example where manipulator avoids the
obstacle by using the null space projection algorithm. The
desired "\dot O" is given by the two variables, xod and yod,
and is preset at (xod,yod) = (0,1). To the extent it is
compatible with the desired end effector velocity (given by
xd, yd), point O will have that desired motion. If you change
the values for (xod, yod), you should see a corresponding
change in the behavour of the system.
Last updated: March 17, 1999.