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

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

Research output: Contribution to conferencePaperpeer-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 languageEnglish
Pages1438-1443
Number of pages6
Publication statusPublished - 1997 Dec 1
EventProceedings 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 91997 Nov 14

Other

OtherProceedings of the 1997 23rd Annual International Conference on Industrial Electronics, Control, and Instrumentation, IECON. Part 2 (of 4)
CityNew Orleans, LA, USA
Period97-11-0997-11-14

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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