Title :
The singularity-consistent method applied to a four-DOF redundant manipulator
Author :
Nenchev, Dragomir N. ; Tsumaki, Yuichi
Author_Institution :
Dept. of Intelligent Machines & Syst. Eng., Hirosaki Univ., Aomori, Japan
Abstract :
The SC method is applied to the positioning sub-chain of a seven-DOF with zero joint offsets, such as the MHI PA-10 arm. Via the two vector fields obtained, decoupled motion control of the end-effector and the arm plane, respectively, can be realized. No additional singularities are introduced, and motion through kinematic singularities is stable.
Keywords :
end effectors; motion control; position control; redundant manipulators; arm plane; decoupled motion control; end effector; four DOF redundant manipulator; kinematic singularities; positioning sub chain; seven DOF; singularity consistent method; zero joint offsets; Equations; Intelligent systems; Jacobian matrices; Kinematics; Machine intelligence; Manipulators; Motion control; Null space; Orbital robotics; Space technology;
Conference_Titel :
Control, Automation, Robotics and Vision, 2002. ICARCV 2002. 7th International Conference on
Print_ISBN :
981-04-8364-3
DOI :
10.1109/ICARCV.2002.1238535
