Topology-based analysis for redundant manipulators under kinematic constraints

Author

Luck, C.L. ; Lee, Sukhan

Author_Institution

Dept. of Electr. Eng., Univ. of Southern Maine, Gorham, ME, USA

Volume

2

fYear

1995

fDate

13-15 Dec 1995

Firstpage

1603

Abstract

The self-motion manifold topology of redundant manipulators is significantly affected by the introduction of kinematic constraints. In this paper we analyze the impact of kinematic constraints in the global topological sense. The semi-singularity is a fundamental concept for this analysis and its analytical properties are presented, along with the introduction of dexterity measures suitable for redundant manipulators under constraints. A planar manipulator with one degree of redundancy illustrates the methodology

Keywords

Jacobian matrices; manipulator kinematics; path planning; redundancy; singular value decomposition; topology; Jacobian matrix; dexterity; kinematic constraints; redundancy; redundant manipulators; self motion topology; self-motion manifold topology; semi-singularity; singular value decomposition; Constraint optimization; Jacobian matrices; Kinematics; Manifolds; Manipulators; Matrix decomposition; Orbital robotics; Robot sensing systems; Singular value decomposition; Topology;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 1995., Proceedings of the 34th IEEE Conference on

Conference_Location

New Orleans, LA

ISSN

0191-2216

Print_ISBN

0-7803-2685-7

Type

conf

DOI

10.1109/CDC.1995.480367

Filename

480367