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Title: Singularity analysis and handling towards mobile manipulation
Keywords: singularity kinematics mobile manipulation robotics
Issue Date: 2-Mar-2004
Citation: DENNY NURJANTO OETOMO (2004-03-02). Singularity analysis and handling towards mobile manipulation. ScholarBank@NUS Repository.
Abstract: This thesis covers identification of singular configurations and singular directions, singularity handling methods and industrial application of the algorithms in mobile manipulation. In the identification process, a more complete solution than the conventional method is introduced. In handling of singularity, two methods were introduced. The first one is with division of workspace where near singular configurations, a different control algorithm that is singularity robust is applied. The problem of discontinuity as the control is switched is also addressed. The second method introduces a uniform algorithm throughout with no division in workspace. The singularity robust algorithm is implemented in an industrial task where a torque control manipulator is integrated with a velocity controlled mobile platform. The algorithm successfully performed singularity robust unified force and motion control in polishing an unknown surface of an aircraft canopy.
Appears in Collections:Ph.D Theses (Open)

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