Title :
Fast pick and place at robot singularities
Author :
Kieffer, Jon C. ; Cahill, Aidan J.
Author_Institution :
Australian Nat. Univ., Canberra, ACT, Australia
Abstract :
In this paper we investigate whether singular configurations may be good sites for high-speed pick or place operations. Motivation comes from the observation that the end effector velocity can be brought to zero at a singularity without stopping the mechanism. This allows the robot to keep some of its kinetic energy while accomplishing the pick or place task and can lead to faster cycle times compared to pick or place at nearby regular configurations
Keywords :
factory automation; industrial manipulators; manipulator kinematics; optimal control; velocity control; SCARA robot; cycle times; end effector velocity; kinetic energy; pick and place operation; robot singularity; singular configurations; Australia Council; End effectors; Humans; Kinetic theory; Legged locomotion; Manipulators; Robot kinematics; Robustness; Service robots; Systems engineering and theory;
Conference_Titel :
Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on
Conference_Location :
Nagoya
Print_ISBN :
0-7803-1965-6
DOI :
10.1109/ROBOT.1995.525594
