Dynamic task priority approach to avoid kinematic singularity for autonomous manipulation

IEEE International Conference on Intelligent Robots and Systems

Volumn 2, Issue , 2002, Pages 1942-1947

  Kim, Jinhyun ^a   Marani, Giacomo ^c   Chung, Wan Kyun ^a   Yuh, Junku ^c   Oh, Sang Rok ^b  

^a Pohang University of Science and Technology (POSTECH)   (South Korea)

^b Korea Institute of Science and Technology   (South Korea)

^c NONE

Author keywords

[No Author keywords available]

Indexed keywords

ALGORITHMS; COMPUTER SIMULATION; DEGREES OF FREEDOM (MECHANICS); ELECTROMECHANICAL DEVICES; KINEMATICS; ROBOTICS; SUBMERSIBLES;

AUTONOMOUS MANIPULATION; ELECTROMECHANICAL ROBOTIC MANIPULATOR; ROBOTIC MANIPULATOR; UNDERWATER VEHICLE;

MANIPULATORS;

EID: 0036453035     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (8)

1. D. E. Whitney, "Resolved motion rate control of manipulators and human prostheses," IEEE Trans. on Man-Machine System, MMS-10, pp. 47-53, June 1969.
2. Y. Nakamura, Advanced Robotics: Redundancy and Optimization. Addison Wesley, 1991.
3. D. N. Nenchev and Z. M. Sotirov, "Dynamic task-priority allocation for kinematically redundant robotic mechanisms," in Proc., IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 518-524, 1994.
4. S. Chiaverini, "Singularity-robust task-priority redundancy resolution for real-time kinematic control of robot manipulators," IEEE Trans. on Robotics and Automation, vol. 13, pp. 398-410, June 1997.
5. G. Marani, J. Kim, J. Yuh, and W. K. Chung, "A real-time approach for singularity avoidance in resolved motion rate control of robotic manipulators," in Proc., IEEE Int. Conf. on Robotics and Automation, 2002.
6. J. Park, Y. Choi, W. K. Chung, and Y. Youm, "Multiple tasks kinematics using weighted pseudo-inverse for kinematically redundant manipulators," in Proc., IEEE Int. Conf. on Robotics and Automation, pp. 4041-4047, 2001.
7. T. Yoshikawa, "Manipulability of robotic mechanisms," Int. J. of Robotic Research, vol. 4, no, pp. 3-9, 1985.
8. J. Park, Analysis and Control of Kinematically Redundant Manipulators: An Approach Based on Kinematically Decoupled Joint Space Decomposition. PhD thesis, Pohang University of Science and Technology (POSTECH), 1999.