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

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

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