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Título: | A singularity-free path planner for closed-chain manipulators |
Autor: | Bohigas, Oriol CSIC; Henderson, M. E.; Ros, Lluís CSIC ORCID ; Porta, Josep M. CSIC ORCID | Fecha de publicación: | 2012 | Editor: | Institute of Electrical and Electronics Engineers | Citación: | IEEE International Conference on Robotics and Automation: 2128-2134 (2012) | Resumen: | This 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 editor: | http://dx.doi.org/10.1109/ICRA.2012.6224899 | URI: | http://hdl.handle.net/10261/96308 | DOI: | 10.1109/ICRA.2012.6224899 | Identificadores: | doi: 10.1109/ICRA.2012.6224899 isbn: 978-1-4673-1403-9 |
Aparece en las colecciones: | (IRII) Libros y partes de libros |
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Fichero | Descripción | Tamaño | Formato | |
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A Singularity-free.pdf | 2,37 MB | Adobe PDF | Visualizar/Abrir |
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