Trajectory Tracking with a 6R Serial Industrial Robot with Ordinary and Non-ordinary Singularities

被引：0
|
作者：
Gracia, Luis [1 ]
Andres, Javier [1 ]
Tornero, Josep [1 ]
机构：
[1] Univ Politecn Valencia, Dept Syst Engn & Control, Valencia 46022, Spain
来源：
INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS | 2009年 / 7卷 / 01期
关键词：
Adjoint Jacobian; singularity classification; trajectory control; WHEELED MOBILE ROBOTS; INVERSE KINEMATICS; MANIPULATORS; CONFIGURATIONS; SPACE; MECHANISMS; MOTION;
D O I：
10.1007/s12555-009-0111-1
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This work presents a trajectory control for non-redundant serial-link manipulators that is valid for trajectories with ordinary singularities of codimension one and non-ordinary singularities of any codimension. For this purpose, several singularity classifications are considered and a procedure is developed in order to solve the indeterminate motion of non-ordinary singularities. The proposed trajectory control is validated by simulation and by experiments with the six-revolute (6R) industrial robot KUKA KR 15/2.
引用
收藏
页码：85 / 96
页数：12
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