Name
Title | ||
|---|---|---|
Kinematic singularity avoidance for robot manipulators using set-based manipulability tasks |
Abstract | ||
|---|---|---|
This paper proposes a novel method for kinematic singularity avoidance for robot manipulators. Using set-based singularity avoidance tasks within the singularity-robust multiple task priority framework, avoidance of kinematic singularities is guaranteed without interfering with the convergence of compatible equality tasks. Non-compatible equality tasks will still be fulfilled to the extent possible. In addition, the method can be used to reconfigure the robot into a more dexterous configuration. The proposed method is applicable to both redundant and nonredundant robots, with both fixed base and floating base. The implementation is generic and independent of the type and number of tasks. Although also applicable for non-redundant fixed base robot manipulators, this novel approach is particularly well suited for highly redundant and/or floating base manipulators, since the robot configuration can be changed to improve the dexterity of the manipulator arm. We demonstrate the method by applying it to an underwater swimming manipulator, which is an innovative and highly redundant underwater floating base manipulator. Furthermore, simulation results are presented that illustrate and validate the proposed method. |
Year | DOI | Venue |
|---|---|---|
2017 | 10.1109/CCTA.2017.8062454 | 2017 IEEE Conference on Control Technology and Applications (CCTA) |
Keywords | DocType | ISBN |
kinematic singularity avoidance,set-based manipulability tasks,singularity avoidance tasks,singularity-robust multiple task priority framework,kinematic singularities,noncompatible equality tasks,nonredundant robots,nonredundant fixed base robot manipulators,robot configuration,manipulator arm,underwater swimming manipulator,innovative floating base manipulator,redundant underwater floating base manipulators | Conference | 978-1-5090-2183-3 |
Citations | PageRank | References |
0 | 0.34 | 10 |
Authors | ||
4 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Jorgen Sverdrup-Thygeson | 1 | 0 | 0.34 |
| Signe Moe | 2 | 26 | 4.65 |
| Kristin Ytterstad Pettersen | 3 | 334 | 33.32 |
| Jan Tommy Gravdahl | 4 | 327 | 43.60 |