Study and resolution of singularities for a 7-DOF redundantmanipulator
Fan-Tien Cheng; Jeng-Shi Chen; Fan-Chu Kung
Industrial Electronics, IEEE Transactions on
Volume 45, Issue 3, Jun 1998 Page(s):469 - 480
Digital Object Identifier 10.1109/41.679005
Summary:The singularity problem of a 7-degrees-of-freedom (DOF) redundant
manipulator is analyzed, and a new resolution method is proposed. In
this paper, the singularities are decoupled into the position
singularities and the orientation singularity by the technique of
workspace decomposition, then all singularity conditions for both cases
are derived, and the new singularity avoidance (NSA) method is proposed.
The NSA method resolves the escapable singularities which can be
reconfigured into a nonsingular posture via self motion. Unlike some
existing methods, the NSA method considers the position singularities
and the orientation singularity separately. This method only needs to
optimize two order-3 minors, one for the 3×4 Jacobian
translational submatrix and the other for the 3×7 Jacobian
rotational submatrix. Therefore, the computation for the optimization is
greatly reduced. Three examples are presented to demonstrate the
generality and efficiency of this new method
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