TY - JOUR
T1 - Study and resolution of singularities for a 6-DOF puma manipulator
AU - Cheng, Fan Tien
AU - Hour, Tzung Liang
AU - Chen, Tsing Hua
AU - Sun, York Yin
AU - Kung, Fan Chu
PY - 1995/12/1
Y1 - 1995/12/1
N2 - 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, simulation results for PUMA manipulator are given to demonstrate the effectiveness of the SICQP method.
AB - 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, simulation results for PUMA manipulator are given to demonstrate the effectiveness of the SICQP method.
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M3 - Conference article
AN - SCOPUS:0029511766
SN - 0884-3627
VL - 5
SP - 4410
EP - 4415
JO - Proceedings of the IEEE International Conference on Systems, Man and Cybernetics
JF - Proceedings of the IEEE International Conference on Systems, Man and Cybernetics
T2 - Proceedings of the 1995 IEEE International Conference on Systems, Man and Cybernetics. Part 2 (of 5)
Y2 - 22 October 1995 through 25 October 1995
ER -