TY - JOUR
T1 - Study and resolution of singularities for a 6-DOF PUMA manipulator
AU - Cheng, Fan Tien
AU - Hour, Tzung Liang
AU - Sun, York Yin
AU - Chen, Tsing Hua
N1 - Funding Information:
Manuscript received August 5, 1994; revised July 27, 1995 and December 23, 1995. This work was supported by the National Science Council, R.O.C., under Contract NSC-83-0422-E-006-091. F.-T. Cheng is with the Institute of Manufacturing Engineering, National Cheng Kung University, Tainan, Taiwan, R.O.C. T.-L. Hour, Y.-Y. Sun, and T.-H. Chen are with the Department of Electrical Engineering, National Cheng Kung University, Tainan, Taiwan, R.O.C. Publisher Item Identifier S 1083-4419(97)00151-9.
PY - 1997
Y1 - 1997
N2 - Upon solving the inverse kinematics problem of robot manipulators, the inherent singularity problem should always be considered. When a manipulator is approaching a singular configuration, a certain degree of freedom will be lost such that there are no feasible solutions of the manipulator to move into this singular direction. In this paper, the singularities of a 6-DOF PUMA manipulator are analyzed in detail and all the corresponding singular directions in task space are clearly identified. In order to resolve this singularity problem, an approach denoted Singularity Isolation Plus Compact QP (SICQP) method is proposed. The SICQP method decomposes the work space into achievable and unachievable (i.e., singular) directions. Then, the exactness in the singular directions are released such that extra redundancy is provided to the achievable directions. Finally, the Compact QP method is applied to maintain the exactness in the achievable directions, and to minimize the tracking errors in the singular directions under the condition that feasible joint solutions must be obtained. In the end, some simulation results for PUMA manipulator are given to demonstrate the effectiveness of the SICQP method.
AB - Upon solving the inverse kinematics problem of robot manipulators, the inherent singularity problem should always be considered. When a manipulator is approaching a singular configuration, a certain degree of freedom will be lost such that there are no feasible solutions of the manipulator to move into this singular direction. In this paper, the singularities of a 6-DOF PUMA manipulator are analyzed in detail and all the corresponding singular directions in task space are clearly identified. In order to resolve this singularity problem, an approach denoted Singularity Isolation Plus Compact QP (SICQP) method is proposed. The SICQP method decomposes the work space into achievable and unachievable (i.e., singular) directions. Then, the exactness in the singular directions are released such that extra redundancy is provided to the achievable directions. Finally, the Compact QP method is applied to maintain the exactness in the achievable directions, and to minimize the tracking errors in the singular directions under the condition that feasible joint solutions must be obtained. In the end, some simulation results for PUMA manipulator are given to demonstrate the effectiveness of the SICQP method.
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U2 - 10.1109/3477.558842
DO - 10.1109/3477.558842
M3 - Article
C2 - 18255874
AN - SCOPUS:0031119291
SN - 1083-4419
VL - 27
SP - 332
EP - 343
JO - IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
JF - IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
IS - 2
ER -