Algorithmic singularities avoidance in task-priority based controller for redundant manipulators

IEEE International Conference on Intelligent Robots and Systems

Volumn 4, Issue , 2003, Pages 3570-3574

  Marani, Giacomo ^a   Kim, Jinhyun ^b   Yuh, Junku ^a   Chung, Wan ^b  

^a UNIVERSITY OF HAWAII   (United States)

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

Author keywords

[No Author keywords available]

Indexed keywords

JACOBIAN MATRICES; OFF-LINE TRAJECTORY CONTROL;

ALGORITHMS; CONTROL EQUIPMENT; DATA ACQUISITION; END EFFECTORS; ERROR DETECTION; INVERSE KINEMATICS; MATRIX ALGEBRA; POSITION CONTROL; TORQUE; VECTORS;

REDUNDANT MANIPULATORS;

EID: 0347409267     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (9)

1. Y. Nakamura, Advanced Robotics: Redundancy and Optimization. Addison Wesley, 1991.
2. C. W. Wampler, "Manipulator inverse kinematic solutions based on vector formualtions and damped least-squares methods," IEEE Trans. on Systems, Man, and Cybernetics, vol. SMC-16, no. 1, pp. 93-101, Jan. 1986.
3. S. Chiaverini, "Singularity-robust task-priority redundancy resoultion for real-time kinematic control of robot manipulators," IEEE Trans. on Robotics and Automation, vol. 13, no. 3, pp. 398-410, June 1997.
4. T. Yoshikawa, "Manipulability of robotic mechanisms," Int. J. of Robotic Research, vol. 4, no. 2, pp. 3-9, 1985.
5. J. Park, "Analysis and control of kinematically redundant manipulators: An approach based on kinematically decoupled joint space decomposition," Ph.D. dissertation, Pohang University of Science and Technology (POSTECH), 1999.
6. H. Seraji and R. Colbaugh, "Singularity-robustness and task-prioritization in configuration control of redundant robots," in Proc. 29th IEEE Conference on Decision and Control, 1990, pp. 3089-3095.
7. 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, pp. 1973-1978.
8. Y. Nakamura and H. Hanafusa, "Inverse kinematic solutions with singularity robustness for robot manipulator control," J. of Dyanmic Sys., Meas., and Control, vol. 108, pp, 163-171, Sept. 1986.
9. J. Kim, G. Marani, W. K. Chung, J. Yuh, and S. R. Oh, "Dynamic task priority approach to avoid kinematic singularity," in IROS 2002, Nov. 2002.