NDLI: Study and resolution of singularities for a 6-DOF PUMA manipulator

Content Provider	IEEE Xplore Digital Library
Author	Fan-Tien Cheng Tzung-Liang Hour York-Yin Sun Tsing-Hua Chen
Copyright Year	1996
Abstract	Upon solving the inverse kinematics problem of robot manipulators, the inherent singularity problem should always be considered. When a manipulator is approaching a singular configuration, a certain degree of freedom will be lost such that there are no feasible solutions of the manipulator to move into this singular direction. In this paper, the singularities of a 6-DOF PUMA manipulator are analyzed in detail and all the corresponding singular directions in task space are clearly identified. In order to resolve this singularity problem, an approach denoted Singularity Isolation Plus Compact QP (SICQP) method is proposed. The SICQP method decomposes the work space into achievable and unachievable (i.e., singular) directions. Then, the exactness in the singular directions are released such that extra redundancy is provided to the achievable directions. Finally, the Compact QP method is applied to maintain the exactness in the achievable directions, and to minimize the tracking errors in the singular directions under the condition that feasible joint solutions must be obtained. In the end, some simulation results for PUMA manipulator are given to demonstrate the effectiveness of the SICQP method.
Starting Page	332
Ending Page	343
Page Count	12
File Size	348926
File Format	PDF
ISSN	10834419
Volume Number	27
Issue Number	2
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1997-04-01
Publisher Place	U.S.A.
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Manipulators Jacobian matrices Damping Sun Kinematics Quadratic programming Robots Redundancy Orbital robotics Robotics and automation
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Information Systems Electrical and Electronic Engineering Human-Computer Interaction Computer Science Applications Software

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