Singularity-consistent dynamic path tracking under torque limits

D. N. Nenchev, Y. Tsumaki, S. Ma, M. Uchiyama

    Research output: Contribution to conferencePaperpeer-review

    1 Citation (Scopus)

    Abstract

    In this paper we develop further our singularity-consistent approach to arrive at a parameterized form of the dynamics of a nonredundant robotic mechanism tracking a desired path in Cartesian space. It is shown that this form is suitable for incorporating joint torque limits, which is an important issue for practical applications. We propose a closed-loop controller which behaves as a 'conventional' resolved-acceleration type controller at regular points of the kinematic function. Around any singularity and at so-called instantaneous self-motion singularities the controller is able to track the direction of the specified path exactly. The limit on the torque norm results in some position error, without deteriorating, however, the direction tracking ability. It is shown also that motion through the bifurcation type singularity can be easily controlled in practice as well.

    Original languageEnglish
    Pages590-595
    Number of pages6
    Publication statusPublished - 1996 Dec 1
    EventProceedings of the 1996 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. Part 3 (of 3) - Osaka, Jpn
    Duration: 1996 Nov 41996 Nov 8

    Other

    OtherProceedings of the 1996 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. Part 3 (of 3)
    CityOsaka, Jpn
    Period96/11/496/11/8

    ASJC Scopus subject areas

    • Control and Systems Engineering
    • Software
    • Computer Vision and Pattern Recognition
    • Computer Science Applications

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