By Topic

Algorithmic singularities avoidance in task-priority based controller for redundant 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
$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

4 Author(s)
Marani, G. ; Autonomous Syst. Lab., Hawaii Univ., Honolulu, HI, USA ; Jinhyun Kim ; Junku Yuh ; Wan Kyun Chung

In this paper we describe an online solution for avoiding the occurrence of both algorithmic and kinematic singularities in task-priority based kinematic controllers of robotic manipulators. The proposed approach uses a secondary task correction and a successive task projection in order to maintain the measure of manipulability of the correspondent space augmentation approach over a minimum value. It shows a gain in performance and a better task error especially when working in proximity of singular configurations. It is particularly suitable for autonomous systems where an offline trajectory control scheme is often not applicable.

Published in:

Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on  (Volume:4 )

Date of Conference:

27-31 Oct. 2003