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Randomized planning of dynamic motions avoiding forward singularities

Author
Bordalba, R.; Ros, L.; Porta, J.
Type of activity
Presentation of work at congresses
Name of edition
ARK 2018 - 16th International Symposium on Advances in Robot Kinematics
Date of publication
2018
Presentation's date
2018
Book of congress proceedings
Vol 8 of Springer Proceedings in Advanced Robotics
First page
170
Last page
178
Publisher
Springer International Publishing
DOI
https://doi.org/10.1007/978-3-319-93188-3_20 Open in new window
Project funding
KINODYN: Kinodynamic planning of efficient and agile robot motions
Repository
http://hdl.handle.net/2117/125332 Open in new window
URL
https://link.springer.com/chapter/10.1007%2F978-3-319-93188-3_20 Open in new window
Abstract
Forward singularities, also known as direct, or actuator singularities, cause many problems to the planning and control of robot motions. They yield position errors and rigidity losses of the robot, and generate unbounded actions in typical control laws. To circumvent these issues, this paper proposes a randomized kinodynamic planner for computing trajectories avoiding such singularities. Given initial and final states for the robot, the planner attempts to connect them by means of a dynamically...
Citation
Bordalba, R., Ros, L., Porta, J. Randomized planning of dynamic motions avoiding forward singularities. A: International Conference on Advances in Robot Kinematics. "Vol 8 of Springer Proceedings in Advanced Robotics". Springer International Publishing, 2018, p. 170-178.
Keywords
Constrained system, Kinodynamic planning, Parallel robots, RRT, Singularity, manipulators, robot dynamics, robot kinematics
Group of research
KRD - Kinematics and Robot Design

Participants