Please use this identifier to cite or link to this item: https://scholarbank.nus.edu.sg/handle/10635/73862
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dc.titleSingularity robust manipulator control using virtual joints
dc.contributor.authorOetomo, D.
dc.contributor.authorAng Jr., M.H.
dc.contributor.authorLim, T.M.
dc.date.accessioned2014-06-19T05:40:15Z
dc.date.available2014-06-19T05:40:15Z
dc.date.issued2002
dc.identifier.citationOetomo, D.,Ang Jr., M.H.,Lim, T.M. (2002). Singularity robust manipulator control using virtual joints. Proceedings - IEEE International Conference on Robotics and Automation 3 : 2418-2423. ScholarBank@NUS Repository.
dc.identifier.issn10504729
dc.identifier.urihttp://scholarbank.nus.edu.sg/handle/10635/73862
dc.description.abstractA singularity handling method is proposed in this paper. It is done by introducing virtual redundant joints into the Jacobian matrix to maintain the rank of the Jacobian matrix when singularity occurs. These additional joints do not exist physically. Therefore, although mathematically stable, the manipulator still can not perform tasks in the degenerate direction(s). This method is comparatively straight forward to implement and it does not have a singular subspace defined within which a special and different control algorithm is performed, thus it avoids the problem associated with discontinuous control or switching of control. The method was tested on simulation and implemented in real-time on the PUMA 560 robot.
dc.sourceScopus
dc.typeConference Paper
dc.contributor.departmentMECHANICAL ENGINEERING
dc.description.sourcetitleProceedings - IEEE International Conference on Robotics and Automation
dc.description.volume3
dc.description.page2418-2423
dc.description.codenPIIAE
dc.identifier.isiutNOT_IN_WOS
Appears in Collections:Staff Publications

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