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An on-line task modification method for singularity avoidance of robot manipulators

Published online by Cambridge University Press:  01 July 2009

Changwu Qiu ,
Qixin Cao  and
Shouhong Miao
Changwu Qiu*
Affiliation:
School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, P. R. China.
Qixin Cao
Affiliation:
State Key Laboratory of Mechanical System and Vibration, Shanghai Jiao Tong University, Shanghai, P. R. China.
Shouhong Miao
Affiliation:
School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, P. R. China.
*
*Corresponding author. E-mail: qcw@sjtu.org
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Summary

In this paper, we present an on-line task modification method (OTMM) to realize singularity avoidance for nonredundant and redundant manipulators at the velocity level. The method introduces a correction vector, constructed from the task velocity and the singular vector corresponding to the minimum singular value, into the task velocity. The performance is simply affected by the choice of the lower limit of the minimum singular value and a scalar adjusting function, which is monotone with respect to the minimum singular value. The method makes unnecessary avoiding the singularity point by off-line path planning for nonredundant or redundant manipulators, and the effort to check whether the singularity is escapable for redundant manipulators. The simulation results show the effectiveness of the OTMM for on-line singularity avoidance in manipulator motion control.

Keywords

On-line task modificationSingularity avoidanceNonredundantRedundantManipulator

Information

Type
Article
Information
Robotica , Volume 27 , Issue 4 , July 2009 , pp. 539 - 546
Copyright
Copyright © Cambridge University Press 2008

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