Bordered matrix for singularity robust inverse kinematics: a methodological aspect

Author

Foret, J. ; Xie, M. ; Fontaine, J.G.

Author_Institution

Sch. of Mech. & Production Eng., Nanyang Technol. Inst., Singapore

Volume

3

fYear

2000

fDate

2000

Firstpage

3013

Abstract

In this article we propose a methodology to smoothly control manipulators when passing through singular configurations. Properties of bordered matrix and their inverse are discussed by means of their ability to properly condition the Jacobian of the system and insure smoothness in the velocity and/or acceleration profile. The efficiency of the algorithm is comparable to that of the singular robust inverse when the singular value decomposition is used Simulation results are discussed at the end of the article

Keywords

Jacobian matrices; computational complexity; manipulator kinematics; robust control; singular value decomposition; Jacobian conditioning; acceleration profile; bordered matrix; manipulators; singular configuration; singular value decomposition; singularity robust inverse kinematics; smooth control; velocity profile; Acceleration; Computational geometry; Jacobian matrices; Manipulators; Matrix decomposition; Planing; Robot kinematics; Robustness; Singular value decomposition; Vectors;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on

Conference_Location

San Francisco, CA

ISSN

1050-4729

Print_ISBN

0-7803-5886-4

Type

conf

DOI

10.1109/ROBOT.2000.846485

Filename

846485