By Topic

Channel algorithm of transversal passing through singularities for non-redundant robot manipulators

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
$33 $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

1 Author(s)
I. Duleba ; Inst. of Eng. Cybern., Wroclaw Univ. of Technol., Poland

This paper introduces a channel algorithm of transversal passing through singularities for non-redundant manipulators. An approach to a singular configuration is monitored by examining singular values of the Jacobian matrix of the manipulator which attain their zero values at singularities. The algorithm forces to smoothly change singular values of the Jacobian matrix. It results in continuous joint coordinates without jerks and extensive errors in tracking a desired path in a task space. An apparent advantage of the channel algorithm is its simplicity and utilization of a basic Newton algorithm only. The algorithm introduced is illustrated with examples including macro motions of the PUMA manipulator

Published in:

Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on  (Volume:2 )

Date of Conference:

2000