Natural motion analysis based on the singularity-consistent parameterization

D. N. Nenchev, Masaru Uchiyama

    Research output: Contribution to journalConference articlepeer-review

    7 Citations (Scopus)


    This work adds some new insight into the singularity-consistent parameterization of the inverse kinematics of a nonredundant robot, tracking a reference path. We show that in the general case (e.g. motion with constant end-effector velocity on the path) there is an non-integrable motion component. When the end-effector moves with a velocity proportional to the determinant of the Jacobian, the non-integrable motion component is removed. In the same time, the order of the equation of motion is reduced. We call this type of motion `natural.' Further on, from the simplified equation of natural motion, we derive the mechanical power measure. This is an instantaneous-motion performance measure defined over the phase space of the system, and thus, can be useful to evaluate the dynamic performance for the specified instantaneous motion direction.

    Original languageEnglish
    Pages (from-to)2683-2688
    Number of pages6
    JournalProceedings - IEEE International Conference on Robotics and Automation
    Publication statusPublished - 1997 Jan 1
    EventProceedings of the 1997 IEEE International Conference on Robotics and Automation, ICRA. Part 3 (of 4) - Albuquerque, NM, USA
    Duration: 1997 Apr 201997 Apr 25

    ASJC Scopus subject areas

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


    Dive into the research topics of 'Natural motion analysis based on the singularity-consistent parameterization'. Together they form a unique fingerprint.

    Cite this