DocumentCode
3448177
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
Volume
3
fYear
1995
fDate
5-9 Aug 1995
Firstpage
78
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;
fLanguage
English
Publisher
ieee
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
Type
conf
DOI
10.1109/IROS.1995.525865
Filename
525865
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