Title :
Hyperbolic normal forms for manipulator kinematics
Author_Institution :
Inst. of Eng. Cybern., Wroclaw Univ. of Technol.
fDate :
4/1/2000 12:00:00 AM
Abstract :
We study the kinematics of robotic manipulators around singular configurations of Corank 1. Sufficient conditions are derived under which the kinematics become equivalent to a hyperbolic normal form. These conditions are illustrated with examples of nonredundant and redundant manipulator kinematics. New normal forms provide a better understanding of the singular behavior of robotic manipulators and are instrumental in solving the singular inverse kinematic problem within the normal form approach
Keywords :
Jacobian matrices; manipulator kinematics; singular value decomposition; Corank 1; Jacobian matrix; hyperbolic normal forms; manipulator kinematics; redundant manipulator; singular configurations; singular inverse kinematics; sufficient conditions; Cranes; Instruments; Manipulators; Mathematical model; Motion control; Robot control; Robot kinematics; Sufficient conditions; Trajectory; Wrist;
Journal_Title :
Robotics and Automation, IEEE Transactions on
