Title :
A singularity-free path planner for closed-chain manipulators
Author :
Bohigas, Oriol ; Henderson, Michael E. ; Ros, Lluís ; Porta, Josep M.
Author_Institution :
Kinematics & Robot Design Group, UPC, Barcelona, Spain
Abstract :
This paper provides an algorithm for computing singularity-free paths on non-redundant closed-chain manipulators. Given two non-singular configurations of the manipulator, the method attempts to connect them through a configuration space path that maintains a minimum clearance with respect to the singularity locus at all points. The method is resolution-complete, in the sense that it always returns a path if one exists at a given resolution, or returns “failure” otherwise. The path is computed by defining a new manifold that maintains a one-to-one correspondence with the singularity-free configuration space of the manipulator, and then using a higher-dimensional continuation technique to explore this manifold systematically from one configuration, until the second configuration is found. Examples are included that demonstrate the performance of the method on illustrative situations.
Keywords :
collision avoidance; manipulators; closed-chain manipulators; configuration space path; higher-dimensional continuation technique; nonredundant closed-chain manipulators; singularity-free configuration space; singularity-free path planner; Bismuth; Equations; Joining processes; Kinematics; Manifolds; Manipulators; Vectors; Closed-chain motion planning; higher-dimensional continuation; singularity avoidance; singularity-free path;
Conference_Titel :
Robotics and Automation (ICRA), 2012 IEEE International Conference on
Conference_Location :
Saint Paul, MN
Print_ISBN :
978-1-4673-1403-9
Electronic_ISBN :
1050-4729
DOI :
10.1109/ICRA.2012.6224899