- Title
- On the behaviour of robots through singularities
- Creator
- Boland, Natashia; Owens, Robyn
- Relation
- International Symposium and Exposition on Robots, 1988. Proceedings of the International Symposium and Exposition on Robots, 1988 (Sydney 6-10 November, 1988) p. 1122-1134
- Publisher
- Australian Robot Association Incorporated
- Resource Type
- conference paper
- Date
- 1988
- Description
- This paper deals with the kinematic singularities of kinematically non-redundant robot manipulators. The errors introduced by using the first-order approximation, known as Jacobian motion control, to perform Cartesian motion are investigated and the effects of including the second-order terms are examined using a two-link planar manipulator and a three-link PUMA type robot. A technique is proposed that allows control of robot motion near, through and at singularities. The notion of dexterous singularities is introduced and the relationship between dexterous singularities and directions in which motion is difficult to control is examined.
- Subject
- robots; Jacobian motion control; singularities
- Identifier
- http://hdl.handle.net/1959.13/940133
- Identifier
- uon:12953
- Identifier
- ISBN:0731625714
- Language
- eng
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