Singularity robustness: methods for joint-space and task-space control

Author

Wedeward, Kevin ; Colbaugh, Richard ; Engelmann, A.

Author_Institution

Dept. of Electr. Eng., New Mexico Inst. of Min. & Technol., Socorro, NM, USA

fYear

1997

fDate

5-7 Oct 1997

Firstpage

22

Lastpage

27

Abstract

Presents methods for the robust handling of the kinematic singularities inherent in all revolute joint manipulators. For joint-space control, the method of damped-least-squares at both the velocity and acceleration levels is revisited and new stability results are presented; for task-space control a new task-space trajectory filter is presented. Simulation results are given for the PUMA 762 robot and the RRC K-1207 redundant arm, and demonstrate that the proposed methods handle singularities successfully

Keywords

acceleration control; least squares approximations; manipulator kinematics; robust control; velocity control; PUMA 762 robot; RRC K-1207 redundant arm; damped-least-squares; joint-space control; kinematic singularities; revolute joint manipulators; singularity robustness; task-space control; task-space trajectory filter; Acceleration; Damping; Kinematics; Manipulators; Orbital robotics; Robots; Robust control; Robustness; Trajectory; Velocity control;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Applications, 1997., Proceedings of the 1997 IEEE International Conference on

Conference_Location

Hartford, CT

Print_ISBN

0-7803-3876-6

Type

conf

DOI

10.1109/CCA.1997.627457

Filename

627457