DocumentCode
3143782
Title
Redundant manipulators motion through singularities based on modified Jacobian method
Author
Duleba, Ignacy ; Sasiadek, Jerzy Z.
Author_Institution
Inst. of Eng. Cybern., Tech. Univ. Wroclaw, Poland
fYear
2002
fDate
9-11 Nov. 2002
Firstpage
331
Lastpage
336
Abstract
This paper presents a method which allows one to pass transversally through singularities of corank 1 for redundant manipulators. The method modifies a Jacobian matrix of the manipulator´s forward kinematics to retrieve its full rank at singularities. The method is computationally inexpensive and conceptually simple. It is well suited for real time control and practical implementations. The method is illustrated with the example of a 3-link planar pendulum.
Keywords
Jacobian matrices; Newton method; inverse problems; pendulums; redundant manipulators; 3-link planar pendulum; Jacobian matrix; Newton algorithms; inverse kinematics; manipulator forward kinematics; modified Jacobian method; real time control; redundant manipulators motion; singularities; Change detection algorithms; Cybernetics; Inverse problems; Jacobian matrices; Kinematics; Orbital robotics; Robot motion; Robustness; Trajectory; Transmission line matrix methods;
fLanguage
English
Publisher
ieee
Conference_Titel
Robot Motion and Control, 2002. RoMoCo '02. Proceedings of the Third International Workshop on
Print_ISBN
83-7143-429-4
Type
conf
DOI
10.1109/ROMOCO.2002.1177128
Filename
1177128
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