Quadratic normal forms of redundant robot kinematics with application to singularity avoidance

被引：3

作者：

Tchon, K ^{[1
]}

机构：

[1] Wroclaw Tech Univ, Inst Engn Cybernet, PL-50372 Wroclaw, Poland

来源：

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | 1998年 / 14卷 / 05期

关键词：

kinematics; redundant robotic manipulator; normal form; singular configuration; singularity avoidance;

D O I：

10.1109/70.720360

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

We derive a rank condition under which the redundant robot kinematics around a corank 1 singular configuration can be given a quadratic normal form. This normal form is further exploited to introduce new sufficient conditions for local avoidability and unavoidability of singular configurations.

引用

页码：834 / 837

页数：4

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