We present a numerical method to compute singularity sets in the configuration space of free-floating robots, comparing two different criteria based on formal methods. By exploiting specific properties of free-floating systems and an alternative formulation of the generalized Jacobian, the search space and computational complexity of the algorithm is reduced. It is shown that the resulting singularity maps can be applied in the context of trajectory planning to guarantee feasibility with respect to singularity avoidance. The proposed approach is validated on a space robot composed of a six degrees-of-freedom (DOF) arm mounted on a body with six DOF.


    Access

    Download


    Export, share and cite



    Title :

    Singularity Maps of Space Robots and their Application to Gradient-based Trajectory Planning



    Conference:



    Publication date :

    2020-07-01



    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English





    Spacecraft angular velocity trajectory planning for SGCMG singularity avoidance

    Hou Z. / Geng Y. / Wu B. et al. | BASE | 2018

    Free access

    Evolutionary Trajectory Planning of Autonomous Robots

    Prof. Watanabe, Keigo / Prof. Hashem, M. M. A. | Springer Verlag | 2004


    Optimization-based Trajectory Planning for Tethered Marsupial Robots

    Martinez-Rozas, S. / Alejo, D. / Caballero, F. et al. | ArXiv | 2020

    Free access