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Singular inverse kinematic problem for robotic manipulators: a normal form approach

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2 Author(s)
K. Tchon ; Inst. of Eng. Cybern., Tech. Univ. Wroclaw, Poland ; R. Muszynski

In this article, a new method of solving the singular inverse kinematic problem for nonredundant robotic manipulators is proposed, based on normal forms of the manipulator kinematics. A complete solution to the inverse problem is presented under assumption that the kinematics are equivalent to the quadratic normal form. Comparisons with other existing methods, including the singularity-robust inverse, are made that reveal advantages of the normal form approach. Experimental results concerned with singular tracking in the AdeptOne manipulator are reported

Published in:

IEEE Transactions on Robotics and Automation  (Volume:14 ,  Issue: 1 )