Title :
A paradigm of bounded geometry for the singularities avoidance of redundant manipulators
Author :
Mayorga, Reneé V.
Author_Institution :
Dept. of Syst. Design Eng., Waterloo Univ., Ont., Canada
Abstract :
In this article a bounded geometry paradigm for the singularities avoidance of redundant manipulators is presented. Such a paradigm enables the development of fast and robust algorithms. The approach is based on establishing appropriate bounds for the norm of some characterizing matrices, representing some geometrical concepts, in order to obtain some performance indices for singularities avoidance and robust path generation
Keywords :
Jacobian matrices; geometry; manipulator kinematics; redundancy; bounded geometry; characterizing matrices; performance indices; redundant manipulators; robust path generation; singularities avoidance; Damping; Design engineering; Differential equations; Geometry; Kinematics; Manipulators; Nonlinear equations; Null space; Orbital robotics; Robustness;
Conference_Titel :
Intelligent Robots and Systems '96, IROS 96, Proceedings of the 1996 IEEE/RSJ International Conference on
Conference_Location :
Osaka
Print_ISBN :
0-7803-3213-X
DOI :
10.1109/IROS.1996.570810
