Publication
A singularity-free path planner for closed-chain manipulators
Conference Article
Conference
IEEE International Conference on Robotics and Automation (ICRA)
Edition
2012
Pages
2128-2134
Doc link
http://dx.doi.org/10.1109/ICRA.2012.6224899
File
Authors
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Bohigas Nadal, Oriol
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Henderson, Michael E.
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Ros Giralt, Lluís
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Porta Pleite, Josep Maria
Projects associated
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 resolution-complete, in the sense that it always returns a path if one exists at a given resolution, or returns failure otherwise. The path is computed by defining a new manifold that maintains a one-to-one correspondence with the singularity-free configuration space of the manipulator, and then using a higher-dimensional continuation technique to explore this manifold systematically from one configuration, until the second configuration is found. Examples are included that demonstrate the performance of the method on illustrative situations.
Categories
robots.
Author keywords
closed-chain motion planning, singularity-free path, higher-dimensional continuation, singularity avoidance
Scientific reference
O. Bohigas, Michael E. Henderson, L. Ros and J.M. Porta. A singularity-free path planner for closed-chain manipulators, 2012 IEEE International Conference on Robotics and Automation, 2012, Saint Paul, MN, USA, pp. 2128-2134, IEEE.
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