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NMT Community Archive >
Electrical Engineering >
Wedeward, Kevin J. >
Please use this identifier to cite or link to this item:
http://hdl.handle.net/10136/30
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| Title: | Singularity Robustness: Methods for Control Joint-Space and Task-Space Control |
| Authors: | Wedeward, K.
Colbaugh, R.
Engelmann, A. |
| Keywords: | singularity robustness
kinematic singularities
robotic manipulators |
| Issue Date: | Oct-1997 |
| Publisher: | IEEE |
| Citation: | Proceedings of teh 1997 IEEE International Conference on Control Applications, Hartford, CT, October5-7, 1997 |
| Abstract: | This paper presents methods for the robust handling
of the kinematic singularities inherent in all revolute joint
manipulators. For joint-space control, the method of
damped-least-squares at both the velocity and acceleration
levels is revisited and new stability results are presented;
for task-space control a new task-space trajectory
filter is presented. Simulation results are given for the
PUMA 762 robot and the RRC K-1207 redundant arm,
and demonstrate that the proposed methods handle singularities
successfully. |
| URI: | http://hdl.handle.net/10136/30 |
| ISBN: | 0-7803-3876-6 |
| Appears in Collections: | Wedeward, Kevin J.
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Files in This Item:
| File |
Description |
Size | Format |
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| 1997IEEECCA.pdf | | 644Kb | Adobe PDF | View/Open |
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