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Comparison of Extended Jacobian and Lagrange Multiplier Based Methods for Resolving Kinematic Redundancy

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Abstract

Several methods have been proposed in the past for resolving the control of kinematically redundant manipulators by optimizing a secondary criterion. The extended Jacobian method constrains the gradient of this criterion to be in the null space of the Jacobian matrix, while the Lagrange multiplier method represents the gradient as being in the row space. In this paper, a numerically efficient form of the Lagrange multiplier method is presented and is compared analytically, computationally, and operationally to the extended Jacobian method. This paper also presents an improved method for tracking algorithmic singularities over previous work.

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Authors and Affiliations

  1. Department of Electrical Engineering, The Ohio State University, 2015 Neil Avenue, Columbus, OH, 43210, USA

    Charles A. Klein & Li-Chung Chu

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  1. Charles A. Klein
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  2. Li-Chung Chu
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Klein, C.A., Chu, LC. Comparison of Extended Jacobian and Lagrange Multiplier Based Methods for Resolving Kinematic Redundancy. Journal of Intelligent and Robotic Systems 19, 39–54 (1997). https://doi.org/10.1023/A:1007941331202

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