Identification Algorithm to Determine the Trajectory of Robots with Singularities
Robotics
2019-11-18 v1
Abstract
Singularity in robot controls is an important problem. By identifying an appropriate trajectory for the robots, the singular situations can be avoided. In this paper an identification algorithm is proposed to control the robot such that it can change its direction to avoid the singularity situation. Base on the singular value decomposition, the proposed algorithm is developed for the non-redundant, single-rank robots. The proposed method is employed on a robot with six degrees of freedom, in order to identify its feasible trajectory. Keywords: Singularity; Trajectory identification; Robot control; Identification algorithm; Singular value decomposition.
Cite
@article{arxiv.1911.06632,
title = {Identification Algorithm to Determine the Trajectory of Robots with Singularities},
author = {Hossein Sharifi and William C. Black},
journal= {arXiv preprint arXiv:1911.06632},
year = {2019}
}
Comments
4 pages, 30 equations, accepted in the international robotics conference USA