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Solving the singularity problem of non-redundant manipulators by constraint optimization

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3 Author(s)
Schreiber, G. ; German Aerosp. Res. Establ., Wessling, Germany ; Otter, M. ; Hirzinger, G.

A solution to the singularity problem of a non-redundant robot is proposed by reformulating the inverse kinematic problem as a constraint optimization problem. The main idea is to allow a cartesian error in a given subspace in the vicinity of a singularity and to minimize this error subject to operational constraints such as maximum motor speeds. As a result, in every sampling instant a series of linear least squares problems with linear equality and inequality constraints have to be solved. This task can be carried out on a Pentium processor within a few milliseconds. The new method is demonstrated by real experiments with an industrial robot

Published in:

Intelligent Robots and Systems, 1999. IROS '99. Proceedings. 1999 IEEE/RSJ International Conference on  (Volume:3 )

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