Abstract
Several techniques have been developed in the past to handle the inverse kinematics of serial robots passing through or close to singular configurations. As a common line, these approaches operate at velocity level, seeking a trade-off between tracking accuracy and joint velocity feasibility. While providing robust control, some difficulties arise in these methods for predicting end-effector errors and their spread in SE(3). In a previous paper, the virtual redundant axis (VRA) method was introduced at velocity level, by which end-effector velocity errors could be concentrated in non-controllable directions. The present paper extends the VRA method to position level, allowing for a precise motion tracking and the handling of singularity paths in the same way as regular motions.
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© 2016 CISM International Centre for Mechanical Sciences
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Flores, F.G., Röttgermann, S., Weber, B., Kecskeméthy, A. (2016). Robust Inverse Kinematics at Position Level by Means of the Virtual Redundant Axis Method. In: Parenti-Castelli, V., Schiehlen, W. (eds) ROMANSY 21 - Robot Design, Dynamics and Control. ROMANSY21 2016. CISM International Centre for Mechanical Sciences, vol 569. Springer, Cham. https://doi.org/10.1007/978-3-319-33714-2_3
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DOI: https://doi.org/10.1007/978-3-319-33714-2_3
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