NDLI: A new method for robot control in singular configurations with motion in any Cartesian direction

Content Provider	IEEE Xplore Digital Library
Author	Chevallereau, C. Daya, B.
Copyright Year	1994
Description	Author affiliation: Lab. d'Autom de Nantes, Nantes Univ., France (Chevallereau, C.; Daya, B.)
Abstract	A Cartesian control law usually requires the inversion of the Jacobian matrix. In singular configurations, motions along particular directions (degenerate directions) seem to be infeasible. In this paper, the constraints that the reference trajectory must satisfy to be correctly tracked are studied for different types of singularities. For an external singularity, no constraint exists on the path, so a motion along a degenerate direction is possible. For an internal singularity the constraints on the trajectory are stronger, so the tangent to the path at the singular point can not be arbitrary. Then, a method is proposed for computing the control input to obtain a perfect tracking of a given reference trajectory satisfying the constraints described above.
Starting Page	2692
Ending Page	2697
File Size	521913
Page Count	6
File Format	PDF
ISBN	0818653302
DOI	10.1109/ROBOT.1994.350929
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1994-05-08
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot control Orbital robotics Velocity control Jacobian matrices Trajectory Switches Solid modeling Centralized control Inverse problems Null space
Content Type	Text
Resource Type	Article

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A new method for robot control in singular configurations with motion in any Cartesian direction