Singularity-consistent path tracking: a null space based approach

D. N. Nenchev, M. Uchiyama

    Research output: Contribution to journalConference articlepeer-review

    13 Citations (Scopus)


    In this paper we develop further a recently proposed null-space method for path tracking at and around kinematic singularities. We consider two types of singularities known as ordinary singularities, and bifurcation/isolated-point singularities. A closed-loop kinematic control scheme is introduced, which is able to keep precisely the direction of the specified end-effector path passing arbitrary close to kinematic singularities. The desired velocity magnitude can be maintained at regular points of the kinematic mapping. In the vicinity of singularities, the maximum available joint velocity specified from hardware limits can be applied. Several advantages of the proposed singularity-consistent approach are pointed out when compared with other well-known methods.

    Original languageEnglish
    Pages (from-to)2482-2489
    Number of pages8
    JournalProceedings - IEEE International Conference on Robotics and Automation
    Publication statusPublished - 1995 Jan 1
    EventProceedings of the 1995 IEEE International Conference on Robotics and Automation. Part 1 (of 3) - Nagoya, Jpn
    Duration: 1995 May 211995 May 27

    ASJC Scopus subject areas

    • Software
    • Control and Systems Engineering
    • Artificial Intelligence
    • Electrical and Electronic Engineering


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