The principle of self-support: a new approach to kinematic control of robots

Abstract

A methodology is introduced for kinematic control of manipulators, in a way that is both mathematically clear and simple to implement. The key idea used in obtaining these features is a kind of autonomy which is given to the control's 'self'. It is formulated in the principle of self-support. It is shown (and illustrated by a simulation example), that such a theory is a feasible alternative to existing kinematic control concepts.<>