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Control of Reduntant Robots at Singularities in Degenerate Directions

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ROMANSY 11

Part of the book series: International Centre for Mechanical Sciences ((CISM,volume 381))

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Abstract

An algorithm for controlling redundant robots at singularities, when the desired motion is in a degenerate direction, is proposed. This case is not supported by other solutions, using only Jacobian information, proposed in the literature. Our algorithm uses Jacobian and Hessian matrices and it allows to choose the configuration of the robot when it exits the singularity. The algorithm was tested on a 7 degree of freedom robot.

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References

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Author information

Authors and Affiliations

  1. Direction Etudes et Recherches d’E.D.F., Chatou, France

    E. Malis, L. Morin & S. Boudet

Authors
  1. E. Malis
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  2. L. Morin
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  3. S. Boudet
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Editor information

Editors and Affiliations

  1. Inst. of Aeronautics and Appl. Mech., Warsaw University of Technology, Nowowiejska 24, 00-665, Warszawa, Poland

    Adam Morecki  & Cezary Rzymkowski  & 

  2. CISM, Palazzo del Torso, Piazza Garibaldi 18, 33100, Udine, Italy

    Giovanni Bianchi

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© 1997 Springer-Verlag Wien

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Malis, E., Morin, L., Boudet, S. (1997). Control of Reduntant Robots at Singularities in Degenerate Directions. In: Morecki, A., Bianchi, G., Rzymkowski, C. (eds) ROMANSY 11. International Centre for Mechanical Sciences, vol 381. Springer, Vienna. https://doi.org/10.1007/978-3-7091-2666-0_37

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  • DOI: https://doi.org/10.1007/978-3-7091-2666-0_37

  • Publisher Name: Springer, Vienna

  • Print ISBN: 978-3-211-82903-5

  • Online ISBN: 978-3-7091-2666-0

  • eBook Packages: Springer Book Archive

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