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Controllability Issues of Robots near Singular Configurations

  • Lars Nielsen
  • Carlos Canudas de Wit
  • Per Hagander
Conference paper

Abstract

The problems of robot motion in the task space, such as Cartesian control and force control are widely studied. Here the relation between robot singularities and the concept of controllability is important. Simple examples contradict some 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. Nonlinear controllability introduced by differential geometry actually suggests lack of controllability at a singular point. Therefore the observations on possible motions made in this paper opens a number of questions. Frther, the results may be of immediate and significant relevance to path programming and to path following.

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References

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Copyright information

© Springer-Verlag Wien 1991

Authors and Affiliations

  • Lars Nielsen
    • 1
  • Carlos Canudas de Wit
    • 2
  • Per Hagander
    • 1
  1. 1.Department of Automatic ControlLund Institute of TechnologyLundSweden
  2. 2.Laboratoire d’Automatique de GrenobleSaint-Martin-d’HeresFrance

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