Trabajo presentado al ICRA celebrado en Minnesota del 14 al 18 de mayo de 2012. ; This paper provides an algorithm for computing singularity-free paths on non-redundant closed-chain manipulators. Given two non-singular configurations of the manipulator, the method attempts to connect them through a configuration space path that maintains a minimum clearance with respect to the singularity locus at all points. The method is resolution-complete, in the sense that it always returns a path if one exists at a given resolution, or returns failure otherwise. The path is computed by defining a new manifold that maintains a one-to-one correspondence with the singularity-free configuration space of the manipulator, and then using a higher-dimensional continuation technique to explore this manifold systematically from one configuration, until the second configuration is found. Examples are included that demonstrate the performance of the method on illustrative situations. ; This work has been partially supported by the Spanish Ministry of Economy under contract DPI2010-18449. ; Peer Reviewed
A singularity-free path planner for closed-chain manipulators
2012-01-01
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
DDC: | 629 |
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