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A singularity-free path planner for closed-chain manipulators

Autor Bohigas, Oriol ; Henderson, M. E.; Ros, Lluís; Porta, Josep M.
Fecha de publicación 2012
EditorInstitute of Electrical and Electronics Engineers
Citación IEEE International Conference on Robotics and Automation: 2128-2134 (2012)
ResumenThis paper provides an algorithm for computing singularity-free paths on non-redundant closed-chain manipulators. Given two non-singular configurations of the manipulator, the method attempts to connect them through a configuration space path that maintains a minimum clearance with respect to the singularity locus at all points. The method is resolution-complete, in the sense that it always returns a path if one exists at a given resolution, or returns failure otherwise. The path is computed by defining a new manifold that maintains a one-to-one correspondence with the singularity-free configuration space of the manipulator, and then using a higher-dimensional continuation technique to explore this manifold systematically from one configuration, until the second configuration is found. Examples are included that demonstrate the performance of the method on illustrative situations.
Descripción Trabajo presentado al ICRA celebrado en Minnesota del 14 al 18 de mayo de 2012.
Versión del editorhttp://dx.doi.org/10.1109/ICRA.2012.6224899
URI http://hdl.handle.net/10261/96308
Identificadoresdoi: 10.1109/ICRA.2012.6224899
isbn: 978-1-4673-1403-9
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