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Title: | Singularity analysis and handling towards mobile manipulation | Authors: | DENNY NURJANTO OETOMO | 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. | URI: | http://scholarbank.nus.edu.sg/handle/10635/13704 |
Appears in Collections: | Ph.D Theses (Open) |
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