Carregant...
Carregant...

Vés al contingut (premeu Retorn)

Planning singularity-free paths on closed-chain manipulators

Autor
Bohigas, O.; Henderson, M.; Ros, L.; Manubens, M.; Porta, J.
Tipus d'activitat
Article en revista
Revista
IEEE journal of robotics and automation
Data de publicació
2013
Volum
29
Número
4
Pàgina inicial
888
Pàgina final
898
DOI
https://doi.org/10.1109/TRO.2013.2260679 Obrir en finestra nova
Repositori
http://hdl.handle.net/2117/20248 Obrir en finestra nova
Resum
This paper provides an algorithm for computing singularity-free paths on closed-chain manipulators. Given two non-singular configurations of the manipulator, the method attempts to connect them through a path that maintains a minimum clearance with respect to the singularity locus at all points, which guarantees the controllability of the manipulator everywhere along the path. The method can be applied to non-redundant manipulators of general architecture, and it is resolution-complete. It alway...
Citació
Bohigas, O. [et al.]. Planning singularity-free paths on closed-chain manipulators. "IEEE transactions on robotics", 2013, vol. 29, núm. 4, p. 888-898.
Paraules clau
assembly-mode changing, higher-dimensional continuation, robots PARAULES AUTOR: closed-chain motion planning, singularity avoidance, singularity-free path or workspace
Grup de recerca
DCG - Discrete and Combinatorial Geometry
KRD - Cinemàtica i Disseny de Robots

Participants