Two approaches to singularity-consistent motion of nonredundant robotic mechanisms

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

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 journal › Conference article › peer-review

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 language	English
Pages (from-to)	1883-1890
Number of pages	8
Journal	Proceedings - IEEE International Conference on Robotics and Automation
Volume	2
Publication status	Published - 1996 Jan 1
Event	Proceedings of the 1996 13th IEEE International Conference on Robotics and Automation. Part 1 (of 4) - Minneapolis, MN, USA Duration: 1996 Apr 22 → 1996 Apr 28

ASJC Scopus subject areas

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

Cite this

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title = "Two approaches to singularity-consistent motion of nonredundant robotic mechanisms",

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.",

author = "Nenchev, {D. N.} and Y. Tsumaki and M. Uchiyama and V. Senft and G. Hirzinger",

year = "1996",

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journal = "Proceedings - IEEE International Conference on Robotics and Automation",

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note = "Proceedings of the 1996 13th IEEE International Conference on Robotics and Automation. Part 1 (of 4) ; Conference date: 22-04-1996 Through 28-04-1996",

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AU - Nenchev, D. N.

AU - Tsumaki, Y.

AU - Uchiyama, M.

AU - Senft, V.

AU - Hirzinger, G.

PY - 1996/1/1

Y1 - 1996/1/1

N2 - 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.

AB - 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.

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M3 - Conference article

AN - SCOPUS:0029694781

SN - 1050-4729

VL - 2

SP - 1883

EP - 1890

JO - Proceedings - IEEE International Conference on Robotics and Automation

JF - Proceedings - IEEE International Conference on Robotics and Automation

T2 - Proceedings of the 1996 13th IEEE International Conference on Robotics and Automation. Part 1 (of 4)

Y2 - 22 April 1996 through 28 April 1996

ER -

Two approaches to singularity-consistent motion of nonredundant robotic mechanisms

Abstract

ASJC Scopus subject areas

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