By Topic

The singularity-consistent method applied to a four-DOF redundant manipulator

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
D. N. Nenchev ; Dept. of Intelligent Machines & Syst. Eng., Hirosaki Univ., Aomori, Japan ; Y. Tsumaki

The SC method is applied to the positioning sub-chain of a seven-DOF with zero joint offsets, such as the MHI PA-10 arm. Via the two vector fields obtained, decoupled motion control of the end-effector and the arm plane, respectively, can be realized. No additional singularities are introduced, and motion through kinematic singularities is stable.

Published in:

Control, Automation, Robotics and Vision, 2002. ICARCV 2002. 7th International Conference on  (Volume:2 )

Date of Conference:

2-5 Dec. 2002