Title :
Singularity robustness: methods for joint-space and task-space control
Author :
Wedeward, Kevin ; Colbaugh, Richard ; Engelmann, A.
Author_Institution :
Dept. of Electr. Eng., New Mexico Inst. of Min. & Technol., Socorro, NM, USA
Abstract :
Presents methods for the robust handling of the kinematic singularities inherent in all revolute joint manipulators. For joint-space control, the method of damped-least-squares at both the velocity and acceleration levels is revisited and new stability results are presented; for task-space control a new task-space trajectory filter is presented. Simulation results are given for the PUMA 762 robot and the RRC K-1207 redundant arm, and demonstrate that the proposed methods handle singularities successfully
Keywords :
acceleration control; least squares approximations; manipulator kinematics; robust control; velocity control; PUMA 762 robot; RRC K-1207 redundant arm; damped-least-squares; joint-space control; kinematic singularities; revolute joint manipulators; singularity robustness; task-space control; task-space trajectory filter; Acceleration; Damping; Kinematics; Manipulators; Orbital robotics; Robots; Robust control; Robustness; Trajectory; Velocity control;
Conference_Titel :
Control Applications, 1997., Proceedings of the 1997 IEEE International Conference on
Conference_Location :
Hartford, CT
Print_ISBN :
0-7803-3876-6
DOI :
10.1109/CCA.1997.627457
