By Topic

The study on algorithm for avoiding dynamics singularities of space robot

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
$31 $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

5 Author(s)
Gang Chen ; Sch. of Autom., Beijing Univ. of Posts & Telecommun., Beijing, China ; Qingxuan Jia ; Hanxu Sun ; Jun Wang
more authors

Due to the dynamics coupling characteristics of space robot, it is inevitable to appear the phenomenon of dynamic singularity in the process of solving inverse kinematics, therefore, it is significant to carry out the research of avoiding dynamic singularity aiming at specific space robots. In this paper, on the basis of the space robot kinematics model, the dynamics singularity of space robot is transformed into kinematics singularity of fixed-based robot by approximate linearization method. Subsequently, the kinematics singularity of fixed-based robot is analyzed through partitioning a complicated 6-D Jacobian matrix into two 3-D Jacobian matrixes. Then, the quadratic programming algorithm for avoiding singularity is put forward. Finally, the practicability and validity of the singularity algorithm is verified by simulation experiments.

Published in:

Control and Automation, 2009. ICCA 2009. IEEE International Conference on

Date of Conference:

9-11 Dec. 2009