Title :
Real-time motion control in the neighborhood of singularities: a comparative study between the SC and the DLS methods
Author :
Nenchev, Dragomir N. ; Tsumaki, Yuichi ; Uchiyama, Masaru
Author_Institution :
Dept. of Mech. & Production Eng., Niigata Univ., Japan
Abstract :
We compare the main features of the singularity-consistent (SC) method and the damped-least-squares (DLS) method. It is shown that both methods introduce a so-called algorithmic error in the vicinity of a singular point. The direction of this error is, however, different in each method. This is shown to play an important role for system stability
Keywords :
Jacobian matrices; least squares approximations; motion control; redundant manipulators; singular value decomposition; telerobotics; damped-least-squares method; real-time motion control; singularity-consistent method; Jacobian matrices; Kinematics; Manipulators; Motion control; Null space; Orbital robotics; Parallel robots; Production engineering; Stability;
Conference_Titel :
Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on
Conference_Location :
Detroit, MI
Print_ISBN :
0-7803-5180-0
DOI :
10.1109/ROBOT.1999.770027
