DocumentCode
1433400
Title
Quadratic normal forms of redundant robot kinematics with application to singularity avoidance
Author
Tchon, Krzysztof
Author_Institution
Inst. of Eng. Cybern., Wroclaw Univ., Poland
Volume
14
Issue
5
fYear
1998
fDate
10/1/1998 12:00:00 AM
Firstpage
834
Lastpage
837
Abstract
We derive a rank condition under which the redundant robot kinematics around a corank 1 singular configuration can be given a quadratic normal form. This normal form is further exploited to introduce new sufficient conditions for local avoidability and unavoidability of singular configurations
Keywords
manipulator kinematics; redundancy; corank 1 singular configuration; manipulators; quadratic normal forms; rank condition; redundant robot kinematics; singularity avoidance; Cybernetics; Manipulators; Mathematical model; Robot control; Robot kinematics; Robotics and automation; Sufficient conditions; Trajectory;
fLanguage
English
Journal_Title
Robotics and Automation, IEEE Transactions on
Publisher
ieee
ISSN
1042-296X
Type
jour
DOI
10.1109/70.720360
Filename
720360
Link To Document