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A normal form solution to the singular inverse kinematic problem for robotic manipulators: the quadratic case

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

We present a normal form approach to solving the singular inverse kinematic problem for non-redundant robot kinematics. A standing assumption is made that singular configurations of the kinematics have corank 1 and that the kinematics are equivalent to the quadratic normal form. The approach has been illustrated with a simulation case study of 2R kinematics. A comparison with the singularity-robust inverse technique and the null-space based approach has demonstrated advantages of the normal form approach

Published in:

Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on  (Volume:4 )

Date of Conference:

16-20 May 1998