Tracking trajectories with a robotic manipulator with singularities

Authors:
Luis Gracia;Josep Tornero
Affiliations:
Department of Systems Engineering and Control, Technical University of Valencia, Valencia, Spain;Department of Systems Engineering and Control, Technical University of Valencia, Valencia, Spain
Venue:
BVAI'07 Proceedings of the 2nd international conference on Advances in brain, vision and artificial intelligence
Year:
2007

Citing 3
Cited 0

Closed-loop inverse kinematics schemes for constrained redundant manipulators with task space augmentation and task priority strategy

International Journal of Robotics Research
Manipulator inverse kinematics for untimed end-effector trajectories with ordinary singularities

International Journal of Robotics Research
Tracking manipulator trajectories with ordinary singularities: a null space-based approach

International Journal of Robotics Research

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Abstract

This research presents a trajectory control for non-redundant serial-link manipulators that is valid for trajectories with ordinary singularities of codimension one and non-ordinary singularities of any codimension. Firstly, it is presented a unified view of tracking algorithms for trajectories with ordinary singularities. Afterwards, several singularity classifications are indicated and illustrated. Then, it is developed a procedure to solve the indeterminate motion of non-ordinary singularities, which is applied to several cases. Finally, the proposed trajectory control is presented and simulated for the 2R manipulator case.