Singularity control of robot manipulators using closed-form kinematic solutions

Canadian Conference on Electrical and Computer Engineering

Volumn , Issue , 1993, Pages 1065-1068

  Lloyd, J ^a   Hayward, V ^a  

^a MCGILL UNIVERSITY   (Canada)

Author keywords

[No Author keywords available]

Indexed keywords

DEGREES OF FREEDOM (MECHANICS); INVERSE KINEMATICS; INVERSE PROBLEMS; ROBOT APPLICATIONS; ROBOTS; VELOCITY;

CARTESIAN COORDINATE; CARTESIAN TRAJECTORY; CLOSED FORM SOLUTIONS; COMPUTATIONAL STABILITY; INVERSE KINEMATIC SOLUTIONS; KINEMATIC SINGULARITY; KINEMATIC SOLUTIONS; SIX DEGREE-OF-FREEDOM;

MANIPULATORS;

EID: 0344753748     PISSN: 08407789     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/CCECE.1993.332274     Document Type: Conference Paper

References (8)

1. E. W. Aboaf, R. P. Paul, "Living with the Singularity of Robot Wrists". IEEE Internaiional Conference on Robotics and Automation, Raleigh, North Carolina, March 1987, pp. 1713-1717.
2. S. Chiaverini, O. Egeland, R. K. Kanestrom, "Achieving Userdefined Accuracy with Damped Least-Squares Inverse Kinematics". Fifth International Conference on Advanced Robotics, Pisa, Italy, June 1991, pp. 672-677.
3. AS. Deo, I. D. Walker, "Robot Subtask Performance with Singularity Robustness using Optimal Damped Least-Squares". IEEE International Conference on Robotics and Automation, Nice, France, May 1992, pp. 434441.
4. S. Chiaverini, L. Sciavicco, B. Siciliano, "Control of robotics systems through singularities". International Workshop on Nonlinear and Adaptive Control: Issues in Robotics, (Springer Verlag, Lecture Notes in Control and Information Sciences, 162), Grenoble, Rsnce, November, 1990, pp. 285-295.
5. A. A. Maciejewski, C. A. Klein, "The Singular Value Decomposition: Computationand Applications to Robotics". Znternational Journal of Robotics Research, December 1989, pp. 63-79 (Vol. 8, No. 6).
6. L. Nielsen, C. Canudas de Wit, P. Hagander, "Controllability Issues of Robots near Singular Configurations". Advances in Robot Kinematics, 2nd International Workshop, Linz, Austria, September 1990, pp. 283-290.
7. M. Sampei, K. Furuta, "Robot Control in the Neighborhood of Singular Points". IEEE Internaiional Conference on Robotics and Automation, Raleigh, North Carolina, March 31-April 3, 1987, pp. 1696-1700.
8. C. W. Wampler, 11, L. J. Leifer, "Applicationsof dampedleastsquares metho'& to resolved-rate and resolved-Acceleration control of manipulators". Journal of Dynamic Systems, Measurement, and Control, March 1988, pp. 31-38 (Vol. 110, No. 31).