Study and resolution of singularities for a 7-DOF redundant manipulator

Jeng Shi Chen; Fan-Tien Cheng; Fan Chu Kung

Study and resolution of singularities for a 7-DOF redundant manipulator

Jeng Shi Chen, Fan-Tien Cheng, Fan Chu Kung

Institute of Manufacturing Information and Systems

Research output: Contribution to conference › Paper › peer-review

1 Citation (Scopus)

Abstract

The singularity problem of a 7-DOF redundant manipulator is analyzed and resolved in this paper. To begin with, the singularities are decoupled into the position singularities and the orientation singularity by the technique of work space decomposition. Then, all the singular conditions for both the position singularities and the orientation singularity are derived. Finally, the New Singularity Avoidance (NSA) method is proposed to resolve the escapable singularities, which can be reconfigured into a nonsingular posture via self motion. Three examples are given to demonstrate the generality and efficiency of the NSA method.

Original language	English
Pages	1438-1443
Number of pages	6
Publication status	Published - 1997 Dec 1
Event	Proceedings of the 1997 23rd Annual International Conference on Industrial Electronics, Control, and Instrumentation, IECON. Part 2 (of 4) - New Orleans, LA, USA Duration: 1997 Nov 9 → 1997 Nov 14

Other

Other	Proceedings of the 1997 23rd Annual International Conference on Industrial Electronics, Control, and Instrumentation, IECON. Part 2 (of 4)
City	New Orleans, LA, USA
Period	97-11-09 → 97-11-14

All Science Journal Classification (ASJC) codes

Control and Systems Engineering
Electrical and Electronic Engineering

Cite this

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title = "Study and resolution of singularities for a 7-DOF redundant manipulator",

abstract = "The singularity problem of a 7-DOF redundant manipulator is analyzed and resolved in this paper. To begin with, the singularities are decoupled into the position singularities and the orientation singularity by the technique of work space decomposition. Then, all the singular conditions for both the position singularities and the orientation singularity are derived. Finally, the New Singularity Avoidance (NSA) method is proposed to resolve the escapable singularities, which can be reconfigured into a nonsingular posture via self motion. Three examples are given to demonstrate the generality and efficiency of the NSA method.",

author = "Chen, {Jeng Shi} and Fan-Tien Cheng and Kung, {Fan Chu}",

year = "1997",

month = dec,

day = "1",

language = "English",

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note = "Proceedings of the 1997 23rd Annual International Conference on Industrial Electronics, Control, and Instrumentation, IECON. Part 2 (of 4) ; Conference date: 09-11-1997 Through 14-11-1997",

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Study and resolution of singularities for a 7-DOF redundant manipulator. / Chen, Jeng Shi; Cheng, Fan-Tien; Kung, Fan Chu.
1997. 1438-1443 Paper presented at Proceedings of the 1997 23rd Annual International Conference on Industrial Electronics, Control, and Instrumentation, IECON. Part 2 (of 4), New Orleans, LA, USA.

Research output: Contribution to conference › Paper › peer-review

TY - CONF

T1 - Study and resolution of singularities for a 7-DOF redundant manipulator

AU - Chen, Jeng Shi

AU - Cheng, Fan-Tien

AU - Kung, Fan Chu

PY - 1997/12/1

Y1 - 1997/12/1

N2 - The singularity problem of a 7-DOF redundant manipulator is analyzed and resolved in this paper. To begin with, the singularities are decoupled into the position singularities and the orientation singularity by the technique of work space decomposition. Then, all the singular conditions for both the position singularities and the orientation singularity are derived. Finally, the New Singularity Avoidance (NSA) method is proposed to resolve the escapable singularities, which can be reconfigured into a nonsingular posture via self motion. Three examples are given to demonstrate the generality and efficiency of the NSA method.

AB - The singularity problem of a 7-DOF redundant manipulator is analyzed and resolved in this paper. To begin with, the singularities are decoupled into the position singularities and the orientation singularity by the technique of work space decomposition. Then, all the singular conditions for both the position singularities and the orientation singularity are derived. Finally, the New Singularity Avoidance (NSA) method is proposed to resolve the escapable singularities, which can be reconfigured into a nonsingular posture via self motion. Three examples are given to demonstrate the generality and efficiency of the NSA method.

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M3 - Paper

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T2 - Proceedings of the 1997 23rd Annual International Conference on Industrial Electronics, Control, and Instrumentation, IECON. Part 2 (of 4)

Y2 - 9 November 1997 through 14 November 1997

ER -

Study and resolution of singularities for a 7-DOF redundant manipulator

Abstract

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All Science Journal Classification (ASJC) codes

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