Referenced Items are not available for this document.
Resolved motion rate control, which uses a linear approximation to the kinematic function to find joint velocities, can fail at kinematic singularities. Pohl and Lipkin (1991) proposed rate control using a quadratic approximation to the full kinematic function, but this algorithm has disadvantages. Here we propose a hybrid algorithm that works at singularities, is computationally efficient, and finds all physically meaningful solution trajectories. Furthermore, it is shown that this algorithm finds smoother solutions than, the damped least squares algorithm for paths passing through singular points
Published in:
Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on
(Volume:4
)
Date of Conference: 20-25 Apr 1997
- Page(s):
- 3597 - 3602 vol.4
- Meeting Date :
- 20 Apr 1997-25 Apr 1997
- Print ISBN:
- 0-7803-3612-7
- INSPEC Accession Number:
- 5691367
- Conference Location :
- Albuquerque, NM
- Digital Object Identifier :
- 10.1109/ROBOT.1997.606892
- Product Type:
- Conference Publications
About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies
A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2013 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.
