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A singularity-free path planner for closed-chain manipulators

Author
Bohigas, O.; Henderson, M.; Ros, L.; Porta, J.
Type of activity
Presentation of work at congresses
Name of edition
2012 IEEE International Conference on Robotics and Automation
Date of publication
2012
Presentation's date
2012
Book of congress proceedings
Proceedings of the 2012 IEEE International Conference on Robotics and Automation
First page
2128
Last page
2134
Publisher
IEEE
DOI
https://doi.org/10.1109/ICRA.2012.6224899 Open in new window
Repository
http://hdl.handle.net/2117/17359 Open in new window
URL
http://dx.doi.org/10.1109/ICRA.2012.6224899 Open in new window
Abstract
This paper provides an algorithm for computing singularity-free paths on non-redundant closed-chain manipulators. Given two non-singular configurations of the manipulator, the method attempts to connect them through a configuration space path that maintains a minimum clearance with respect to the singularity locus at all points. The method is resolutioncomplete, in the sense that it always returns a path if one exists at a given resolution, or returns “failure” otherwise. The path is compute...
Citation
Bohigas, O. [et al.]. A singularity-free path planner for closed-chain manipulators. A: IEEE International Conference on Robotics and Automation. "Proceedings of the 2012 IEEE International Conference on Robotics and Automation". St. Paul - Minessota: IEEE, 2012, p. 2128-2134.
Keywords
higher-dimensional continuation, robots PARAULES AUTOR: closed-chain motion planning, singularity avoidance, singularity-free path
Group of research
KRD - Kinematics and Robot Design

Participants