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

Download the digital copy of the doc pdf document

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, St. Paul, Minnesota, USA, pp. 2128-2134, IEEE.