NDLI: A general singularity avoidance framework for robot manipulators: task reconstruction method

Content Provider	IEEE Xplore Digital Library
Author	Jinhyun Kim Marani, G. Wan Kyun Chung Junku Yuh
Copyright Year	2004
Description	Author affiliation: Robotics & Bio-Mechatronics Lab., Pohang Univ. of Sci. & Technol., South Korea (Jinhyun Kim)
Abstract	There are several kinds of singularity in controlling robotic manipulator. Among those, the kinematic and algorithmic singularity avoidance have been investigated intensively. What seems to be lacking, however, is excessive performance reduction in non-singular region and difficulty in performance tuning. In this paper, we develop a new method to solve kinematic and algorithmic singularities using task reconstruction approach. This new method drives the manipulator singularity-free path, and simultaneously guarantees task performance. And it can be easily extended singularity avoidance of multiple tasks case in task priority based method of redundant manipulators. The advantage and performance of the proposed method is validated by simulation works.
Sponsorship	IEEE Robotics and Automation Soc
Starting Page	4809
Ending Page	4814
File Size	528774
Page Count	6
File Format	PDF
ISBN	0780382323
ISSN	10504729
DOI	10.1109/ROBOT.2004.1302479
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2004-04-26
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Manipulators Reconstruction algorithms Kinematics Robot control Synthetic aperture sonar Jacobian matrices Biomechatronics Velocity control Numerical simulation Surface reconstruction
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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