Two approaches to singularity-consistent motion of nonredundant robotic mechanisms

D. N. Nenchev, Y. Tsumaki, M. Uchiyama, V. Senft, G. Hirzinger

    Research output: Contribution to journalConference article

    10 Citations (Scopus)

    Abstract

    In this paper we discuss the relation between the two approaches to velocity command generation for nonredundant robotic mechanisms, which the two groups of the authors proposed recently and independently of each other. It will be shown analytically that the singularity-consistent null space based approach, and the split Jacobian approach, are equivalent. Analysis of the behavior at a singularity will be presented from the viewpoint of both approaches. An analytical example will be used to demonstrate the theoretical results.

    Original languageEnglish
    Pages (from-to)1883-1890
    Number of pages8
    JournalProceedings - IEEE International Conference on Robotics and Automation
    Volume2
    Publication statusPublished - 1996 Jan 1
    EventProceedings of the 1996 13th IEEE International Conference on Robotics and Automation. Part 1 (of 4) - Minneapolis, MN, USA
    Duration: 1996 Apr 221996 Apr 28

    ASJC Scopus subject areas

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

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