Robotic joint-motion optimization of functionally-redundant tasks for joint-limits and singularity avoidance

La méthodologie de décomposition du torseur de vitesse (TWA) et évitement des limites articulaires -- Évitement des limites articulaires et singularités -- auto-adaptation des poids en TWA -- Adaptation dynamique des pondération en TWA -- Background and basic terminology -- Problem formulation -- Research objective -- Literature review -- Level of kinematic analysis -- Differential kinematics and redundancy -- Local optimization algorithms -- Global optimization algorithms -- Redundancy-resolution in intelligent control -- Functional redundancy-resolution -- Twist decomposition approach and joint-limits avoidance -- Kinematic inversion of functionally-redundant manipulators -- Puma 500 -- Fanuc M16iB -- Fanuc 710c50 -- General task projectors -- Joint-limits and singularity avoidance in TWA -- Performance criteria -- Numerical examples -- Self-adaptation of weights in TWA -- Joint-limits and singularity avoidances -- Weights self-adaptation system -- Dynamic-adaptation of weights in TWA -- Weights dynamic-adaptation system