NDLI: Removing singularities of resolved motion rate control of mechanisms, including self-motion

Content Provider	IEEE Xplore Digital Library
Author	O'Neil, K.A. Yu-Che Chen Jiaqing Seng
Copyright Year	1989
Abstract	Resolved motion rate control is an algorithm for solving the path-tracking problem in robotic control which can fail at singular points of the kinematic function. The questions of existence and smoothness of solutions to the path tracking problem at singular points have not heretofore been addressed. In this paper we find a new second-order condition which, when satisfied, ensures the existence of a solution path with continuous, bounded joint rates. The condition is related to the curvature of the path at the singular value. We prove that a modification of the usual resolved motion rate control algorithm can successfully compute this solution path. As an application, we give a sufficient condition for the existence of self-motion for redundant manipulators at singular points. We derive a simple formula for the rate of recovery of the manipulability measure near the singularity. Several realistic examples are presented, for which we compute exact solutions to typical path tracking problems passing through singular points.
Starting Page	741
Ending Page	751
Page Count	11
File Size	377814
File Format	PDF
ISSN	1042296X
Volume Number	13
Issue Number	5
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1997-10-01
Publisher Place	U.S.A.
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Motion control Differential equations Manipulators Jacobian matrices Robot kinematics Robot control Sufficient conditions Orbital robotics End effectors Mechanical engineering
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Electrical and Electronic Engineering

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