Title :
Singularity avoidance in redundant robots using hybrid automaton
Author :
Santos, Carlos Henrique dos ; Bittencourt, Guilherme ; Guenther, Raul ; De Pieri, Edson
Author_Institution :
Department of Automation and Systems, Federal University of Santa Catarina, University Campus, Trindade, CEP 88040-900, Florianpolis, Brazil
Abstract :
We investigate in this work the possibility to solve the problem of singularity in redundant robotic systems using a hybrid automaton model. In this way, an index of kinematic performance as method of singularity verification is introduced. Simulation results of a planar redundant manipulator shows that the method is promising.
Keywords :
Automata; Automatic control; Automotive engineering; Kinematics; Manipulators; Medical robotics; Performance analysis; Robot control; Robot sensing systems; Robotics and automation;
Conference_Titel :
Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control, 2006 IEEE
Conference_Location :
Munich, Germany
Print_ISBN :
0-7803-9797-5
Electronic_ISBN :
0-7803-9797-5
DOI :
10.1109/CACSD-CCA-ISIC.2006.4777091
