## Abstract

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 language | English |
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Pages (from-to) | 2683-2688 |

Number of pages | 6 |

Journal | Proceedings - IEEE International Conference on Robotics and Automation |

Volume | 3 |

Publication status | Published - 1997 Jan 1 |

Event | Proceedings of the 1997 IEEE International Conference on Robotics and Automation, ICRA. Part 3 (of 4) - Albuquerque, NM, USA Duration: 1997 Apr 20 → 1997 Apr 25 |

## ASJC Scopus subject areas

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