Title :
Escapability of singular configuration for redundant manipulators via self-motion
Author :
Seng, J. ; O´Neil, K.A. ; Chen, Y.C.
Author_Institution :
Tulsa Univ., OK, USA
Abstract :
The goal of this paper is to study the behavior of general redundant manipulators near singular configurations, and investigate the escapability of redundant manipulators at a singularity. Escapability means that the manipulator can actually reconfigure itself from a singular posture to a nonsingular posture via self-motion. Criteria for the classifications of escapable and inescapable singularities are established. Examples are given to demonstrate the use of these criteria
Keywords :
Jacobian matrices; kinematics; manipulators; path planning; redundancy; singular value decomposition; Jacobian matrix; escapability; joint configuration; kinematics; redundant manipulators; self-motion; singular configuration; Arm; Educational institutions; End effectors; Erbium; Jacobian matrices; Kinematics; Manipulators; Nonlinear equations; Null space; Robots;
Conference_Titel :
Intelligent Robots and Systems 95. 'Human Robot Interaction and Cooperative Robots', Proceedings. 1995 IEEE/RSJ International Conference on
Conference_Location :
Pittsburgh, PA
Print_ISBN :
0-8186-7108-4
DOI :
10.1109/IROS.1995.525865
