Object
Title: Singularity avoidance in redundant robot kinematics: A dynamical system approach
Contributor:
Subtitle:
Recent Developments in Robotics
Group publication title:
Abstract:
This paper is concerned with avoid ability /unavoidability of singular configurations in the redundant manipulator's kinematics with an arbitrary degree of redundancy. The dynamical system approach has been adapted as a guiding line. A self-motion distribution has been defined, spanned by the so-called Hamiltonian vector fields associated with the given kinematics. The Hamiltonian vector fields are established to be divergence-free. ; Around singular configurations of corank 1 a reduction procedure is applied leading to a discovery of a common constant of motion of all vector fields belonging to the self-motion distribution. By examining the stability of the Hamiltonian vector fields sufficient conditions for avoid ability and unavoidability are derived, formulated in terms of the Hessian matrix of the constant of motion.
Publisher:
Zielona Góra: Uniwersytet Zielonogórski
Resource Identifier:
Pages:
Source:
AMCS, volume 7, number 2 (1997) ; click here to follow the link
Language:
Rights:
Biblioteka Uniwersytetu Zielonogórskiego
Object collections:
- Digital Library of Zielona Góra > Repository > Faculties > Faculty of Computer, Electrical and Control Engineering
- Digital Library of Zielona Góra > Repository > Types of work > Articles
- Digital Library of Zielona Góra > Repository > Scientific journals and UZ publishing series > International Journal of Applied Mathematics and Computer Science (AMCS)
- Digital Library of Zielona Góra > Repository > Scientific journals and UZ publishing series > International Journal of Applied Mathematics and Computer Science (AMCS) > International Journal of Applied Mathematics and Computer Science (AMCS) (1997)
Last modified:
Sep 2, 2021
In our library since:
Nov 18, 2020
Number of object content hits:
36
All available object's versions:
https://zbc.uz.zgora.pl/publication/64501
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International Journal of Applied Mathematics and Computer Science (AMCS)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 23 (2013)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 22 (2012)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 21 (2011)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 20 (2010)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 19 (2009)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 18 (2008)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 17 (2007)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 16 (2006)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 15 (2005)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 13 (2003)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 12 (2002)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 11 (2001)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 10 (2000)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 9 (1999)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 8 (1998)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 7 (1997)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 7, number 1 (1997)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 7, number 2 (1997)
- Control of redundant robots under end-effector commands: A case study in underactuated systems
- Adaptive and robust control of flexible joint robots in constrained motion
- On the stability of nonlinear PD control
- An adaptive force/position control scheme for robot manipulators
- Controllability for mechanical systems with symmetries and constraints
- Time-optimal control of redundant manipulators
- Modelling and simulation of assembly processes with robots
- Parameter identification in robot control
- Singularity avoidance in redundant robot kinematics: A dynamical system approach
- Two-way recursive decomposition of the free-flying robot mass matrix
- Time-optimal trajectory planning in dynamic environments
- Motion generation in Cartesian space for industrial robots with actuator limitations
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 7, number 3 (1997)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 7, number 4 (1997)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 7, number 1 (1997)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 6 (1996)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 5 (1995)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 4 (1994)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 3 (1993)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 2 (1992)
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International Journal of Applied Mathematics and Computer Science (AMCS),volume 1 (1991)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 23 (2013)
| Edition name | Date |
|---|---|
| Singularity avoidance in redundant robot kinematics: A dynamical system approach | Sep 2, 2021 |
