Title :
Controllability issues of robots in singular configurations
Author :
Nielsen, Lars ; De Wit, Carlos Canudas ; Hagander, Per
Author_Institution :
Dept. of Autom. Control, Lund Inst. of Technol., Sweden
Abstract :
Examples are given that modify some oversimplified statements usually made about the motion of robots in singular configurations. A robot may be controlled in an arbitrary direction from a singular configuration if the velocity profiles are shaped in a proper way. The observations on possible motions open a number of questions, since a wider class of motions is possible that at first sight. Hence, the results are of relevance to path programming, to path following, and to controller design
Keywords :
controllability; position control; robots; controllability; controller design; path following; path programming; position control; robots; singular configurations; velocity profiles; Controllability; Force control; Jacobian matrices; Kinematics; Nonlinear systems; Orbital robotics; Robot motion; Robotics and automation; Space technology; Taylor series;
Conference_Titel :
Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on
Conference_Location :
Sacramento, CA
Print_ISBN :
0-8186-2163-X
DOI :
10.1109/ROBOT.1991.131958
