DocumentCode
3464222
Title
Robot singularity rate control with phantom d.o.f. strategy
Author
Gutman, Yevsey ; Lee, Ming-Yih ; D´Costa
Author_Institution
Dept. of Mech. Eng., Minnesota Univ., Minneapolis, MN, USA
fYear
1993
fDate
1-3 Aug. 1993
Firstpage
109
Lastpage
112
Abstract
Singularity is an inherent problem and an important obstacle to be overcome in robotic kinematics. When it is near a singular configuration, a robot loses one or more degrees of freedom (d.o.f.), and joint velocities approach infinitely leading to control instability. A strategy for stabilizing robot rate control near or at a singularity (degenerate) configuration using phantom d.o.f. is proposed. The phantom d.o.f. is considered as part of a robot kinematic velocity model and is activated only when the joint velocity exceeds its limit or at singularity configurations. A numerical illustration of singularity control of a 5-d.o.f. robot is discussed.<>
Keywords
kinematics; poles and zeros; robots; stability; 5-d.o.f. robot; control instability; degenerate configuration; phantom d.o.f. strategy; robot rate control; robotic kinematics; singular configuration; singularity rate control; Kinematics; Poles and zeros; Robots; Stability;
fLanguage
English
Publisher
ieee
Conference_Titel
Systems Engineering, 1991., IEEE International Conference on
Conference_Location
Dayton, OH, USA
Print_ISBN
0-7803-0173-0
Type
conf
DOI
10.1109/ICSYSE.1991.161091
Filename
161091
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