Please use this identifier to cite or link to this item: https://doi.org/10.1016/j.rcim.2007.09.007
Title: Singularity robust algorithm in serial manipulators
Authors: Oetomo, D.
Ang Jr, M.H. 
Keywords: Internal joint motion
Null motion
Singularity handling
Singularity identification
Issue Date: Feb-2009
Source: Oetomo, D., Ang Jr, M.H. (2009-02). Singularity robust algorithm in serial manipulators. Robotics and Computer-Integrated Manufacturing 25 (1) : 122-134. ScholarBank@NUS Repository. https://doi.org/10.1016/j.rcim.2007.09.007
Abstract: Singularity is a fundamental problem with robotic manipulators. Various methods of singularity handling have been published in the past. In this paper, a singularity robust method is presented and its implementation issues discussed. It focuses on the discontinuity problem inherent in the singularity robust techniques with removal of degenerate components. Sources of the discontinuity are discussed and the null motion is proposed as the means of providing a continuous control of the end-effector over the boundary of the singular region. The presentation of this paper covers a complete treatment of singularities, starting from identifications of the singular configurations and the associated singular directions, the handling algorithm and the discontinuity issues. The algorithm was implemented on PUMA 560. The experimental results are presented and discussed. © 2007 Elsevier Ltd. All rights reserved.
Source Title: Robotics and Computer-Integrated Manufacturing
URI: http://scholarbank.nus.edu.sg/handle/10635/61322
ISSN: 07365845
DOI: 10.1016/j.rcim.2007.09.007
Appears in Collections:Staff Publications

Show full item record
Files in This Item:
There are no files associated with this item.

SCOPUSTM   
Citations

27
checked on Dec 6, 2017

WEB OF SCIENCETM
Citations

22
checked on Nov 21, 2017

Page view(s)

46
checked on Dec 10, 2017

Google ScholarTM

Check

Altmetric


Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.