Title :
Quadratic normal forms of redundant robot kinematics with application to singularity avoidance
Author :
Tchon, Krzysztof
Author_Institution :
Inst. of Eng. Cybern., Wroclaw Univ., Poland
fDate :
10/1/1998 12:00:00 AM
Abstract :
We derive a rank condition under which the redundant robot kinematics around a corank 1 singular configuration can be given a quadratic normal form. This normal form is further exploited to introduce new sufficient conditions for local avoidability and unavoidability of singular configurations
Keywords :
manipulator kinematics; redundancy; corank 1 singular configuration; manipulators; quadratic normal forms; rank condition; redundant robot kinematics; singularity avoidance; Cybernetics; Manipulators; Mathematical model; Robot control; Robot kinematics; Robotics and automation; Sufficient conditions; Trajectory;
Journal_Title :
Robotics and Automation, IEEE Transactions on
