Publication
Randomized planning of dynamic motions avoiding forward singularities
Conference Article
Conference
International Symposium on Advances in Robot Kinematics (ARK)
Edition
16th
Pages
170-178
Doc link
https://doi.org/10.1007/978-3-319-93188-3_20
File
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-feasible, singularity-free trajectory that also respects the force limits of the actuators. The performance of the strategy is illustrated in simulation by means of a parallel robot performing a highly- dynamic task.
Categories
manipulators, robot dynamics, robot kinematics.
Author keywords
Kinodynamic planning, Singularity, Constrained system, RRT, Parallel robots
Scientific reference
R. Bordalba, L. Ros and J.M. Porta. Randomized planning of dynamic motions avoiding forward singularities, 16th International Symposium on Advances in Robot Kinematics, 2018, Bologna, Italy, in Advances in Robot Kinematics 2018, Vol 8 of Springer Proceedings in Advanced Robotics, pp. 170-178, 2019.
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