DocumentCode :
1403528
Title :
An efficient motion control algorithm for robots with wrist singularities
Author :
Lai, Jim Z C ; Yang, Daniel
Author_Institution :
Dept. of Mech., Aerosp. & Nucl. Eng., California Univ., Los Angeles, CA, USA
Volume :
6
Issue :
1
fYear :
1990
fDate :
2/1/1990 12:00:00 AM
Firstpage :
113
Lastpage :
117
Abstract :
An efficient algorithm is developed for the motion control of manipulators in the neighborhood of wrist singularity. The method, based on a scheduling scheme, guarantees a robot´s location accuracy, maintains a desired Cartesian motion speed, and does not involve the complex computations of a robot´s Jacobian and its inverse. In case studies, three algorithms, namely the maximum joint rates, the iterative method, and the proposed scheduling method, are compared. The scheduling scheme generally gives more satisfactory results in terms of location and orientation accuracies. It is believed that the combination of simple computation, acceptable orientation error, and the ability of maintaining desired speed should make the proposed method very attractive in practical application
Keywords :
position control; robots; Cartesian motion speed; iterative method; location accuracy; maximum joint rates; motion control algorithm; position control; robots; scheduling scheme; wrist singularities; Aerospace engineering; Hardware; Jacobian matrices; Job shop scheduling; Manipulators; Motion control; Processor scheduling; Robot kinematics; Service robots; Wrist;
fLanguage :
English
Journal_Title :
Robotics and Automation, IEEE Transactions on
Publisher :
ieee
ISSN :
1042-296X
Type :
jour
DOI :
10.1109/70.88125
Filename :
88125
Link To Document :
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