A robust singularity avoidance method with improved path tracking performance for autonomous manipulation

Mingming Wang, Jianjun Luo, Jianping Yuan, Chen Xu

科研成果: 书/报告/会议事项章节会议稿件同行评审

1 引用 (Scopus)

摘要

As an inherent characteristic of articulated manipulator, singularity is an inevitable issue while a manipulator is tracking a path defined in its task-space. In this paper, a new singular task reconstruction (STR) method based on the concept of manipulability ellipsoid is proposed to solve kinematic and algorithmic singularity problems. By projecting the desired task onto the direction of manipulability ellipsoid's semi-axes when the manipulator approaches its singular configuration, the modified task impedes the manipulator to enter its singularity region, and simultaneously guarantees improved path tracking performance as compared to a standard Damper Least-Squares (DLS) method. Moreover, this algorithm can be simply extended in the framework of task-priority based method. Benefited from an online evaluation of singular value and eigenvector of the Jacobian matrix, this new method does not require prior knowledge of an emerging singular configuration. The performance and effectiveness of the proposed STR algorithm is demonstrated by simulation works.

源语言英语
主期刊名Proceedings of the 36th Chinese Control Conference, CCC 2017
编辑Tao Liu, Qianchuan Zhao
出版商IEEE Computer Society
6798-6803
页数6
ISBN(电子版)9789881563934
DOI
出版状态已出版 - 7 9月 2017
活动36th Chinese Control Conference, CCC 2017 - Dalian, 中国
期限: 26 7月 201728 7月 2017

出版系列

姓名Chinese Control Conference, CCC
ISSN(印刷版)1934-1768
ISSN(电子版)2161-2927

会议

会议36th Chinese Control Conference, CCC 2017
国家/地区中国
Dalian
时期26/07/1728/07/17

指纹

探究 'A robust singularity avoidance method with improved path tracking performance for autonomous manipulation' 的科研主题。它们共同构成独一无二的指纹。

引用此