Modified Jacobian method of transversal passing through the smallest deficiency singularities for robot manipulators

Authors:
Ignacy Duleba;Jerzy Z. Sasiadek
Affiliations:
Inst. of Engineering Cybernetics, Wroclaw University of Technology, Janiszewski St. 11/17, 50-372 Wroclaw (Poland). iwd@ict.pwr.wroc.pl;Dept. of Mechanical & Aerospace Engineering, Carleton University, 1125 Colonel By Drive, Ottawa K1S 5B6 (Canada). jsas@ccs.carleton.ca
Venue:
Robotica
Year:
2002

Citing 6
Cited 2

Classification of kinematic singularities in planar robot manipulators

Systems & Control Letters
Matrix computations (3rd ed.)

Matrix computations (3rd ed.)
Singularities of nonredundant robot kinematics

International Journal of Robotics Research
Introduction to Robotics

Introduction to Robotics
Advanced Robotics: Redundancy and Optimization

Advanced Robotics: Redundancy and Optimization
Robot Dynamics and Control

Robot Dynamics and Control

Quantified Score

Hi-index	0.00

Visualization

Abstract

This paper proposes a method for transversal passing through singularities of corank 1, both for nonredundant and redundant robotic manipulators. The method modifies the Jacobian matrix of manipulator's forward kinematics to retrieve its full rank at singularities. Natural candidates for the Jacobian matrix modification are derivatives of determinants of full size sub-matrices of the Jacobian matrix. The method is illustrated with examples, including a PUMA manipulator and 2-link and 3-link planar manipulators. Some restrictions on the applicability of the method for nonredundant manipulators are also discussed.