Digital Library of Zielona Góra contains 9 272 digital objects
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:
License CC BY 4.0:
Rights:
Biblioteka Uniwersytetu Zielonogórskiego
Object collections:
- Repository > Faculties > Faculty of Computer, Electrical and Control Engineering
- Repository > Types of work > Articles
- 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:
Jul 14, 2025
In our library since:
Nov 18, 2020
Number of object content hits:
149
All available object's versions:
https://zbc.uz.zgora.pl/repozytorium/publication/64501
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| Edition name | Date |
|---|---|
| Singularity avoidance in redundant robot kinematics: A dynamical system approach | Jul 14, 2025 |
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