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. Further, the results may be of immediate and significant relevance to path programming and to path following.
Preview
Unable to display preview. Download preview PDF.
5. References
Asada, H., and J.-J. E. Slotine (1986): Robot Analysis and Control, John Wiley & Sons, Inc., USA.
Brockett, R.W. (1970): Finite Dimensional Linear Systems, John Wiley & Sons, Inc., USA.
Craig, J. J. (1989): Introduction to Robotics Mechanics and Control, Second Edition, Addison-Wesley Publishing Company, Inc., USA.
Hermann, R., and A. J. Krener (1977): “Nonlinear controllability and observability,” IEEE Transactions of Automatic Control, AC-22, 728–740.
Isidori, A. (1989): Nonlinear Control Systems, Springer Verlag Editions.
Nakamura, Y., and H. Hanafusa (1986): “Inverse kinematic solutions with singularity robustness for robot manipulator control,” Journal of Dynamic Systems, Measurement, and Control, 108, 163–171.
Spong, M. W., and M. Vidyasagar (1989): Robot Dynamics and Control, John Wiley & Sons, Inc., USA.
Wampler, C. W. II (1986): “Manipulator inverse kinematic solutions based on vector formulations and damped least-squares methods,” IEEE Transactions on Systems, Man, and Cybernetics, SMC-16, 93–101.
Author information
Authors and Affiliations
Editor information
Rights and permissions
Copyright information
© 1991 Springer-Verlag
About this paper
Cite this paper
Nielsen, L., Canudas de Wit, C., Hagander, P. (1991). Controllability issues of robots near singular configurations. In: Canudas de Wit, C. (eds) Advanced Robot Control. Lecture Notes in Control and Information Sciences, vol 162. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0039280
Download citation
DOI: https://doi.org/10.1007/BFb0039280
Published:
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-54169-1
Online ISBN: 978-3-540-47479-1
eBook Packages: Springer Book Archive