Sciweavers

Share
IJRR
2000

Singularity-Consistent Parameterization of Robot Motion and Control

9 years 10 months ago
Singularity-Consistent Parameterization of Robot Motion and Control
The inverse kinematics problem is formulated as a parameterized autonomous dynamical system problem, and respective analysis is carried out. It is shown that a singular point of work space can be mapped either as a critical or a noncritical point of the autonomous system, depending on the direction of approach to the singular point. Making use of the noncritical mapping, a closed-loop kinematic controller with asymptotic stability and velocity limits along degenerate singular or near-singular paths is designed. The authors introduce a specific type of motion along the reference path, the so-called natural motion. This type of motion is obtained in a straightforward manner from the autonomous dynamical system and always satisfies the motion constraint at a singular point. In the vicinity of the singular point, natural motion slows down the end-effector speed and keeps the joint velocity bounded. Thus, no special trajectory replanning will be required. In addition, the singular manifold...
Dragomir N. Nenchev, Yuichi Tsumaki, Masaru Uchiya
Added 18 Dec 2010
Updated 18 Dec 2010
Type Journal
Year 2000
Where IJRR
Authors Dragomir N. Nenchev, Yuichi Tsumaki, Masaru Uchiyama
Comments (0)
books