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

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

研究成果: Paper

1 引文 (Scopus)

摘要

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.

原文English
頁面1438-1443
頁數6
出版狀態Published - 1997 十二月 1
事件Proceedings of the 1997 23rd Annual International Conference on Industrial Electronics, Control, and Instrumentation, IECON. Part 2 (of 4) - New Orleans, LA, USA
持續時間: 1997 十一月 91997 十一月 14

Other

OtherProceedings of the 1997 23rd Annual International Conference on Industrial Electronics, Control, and Instrumentation, IECON. Part 2 (of 4)
城市New Orleans, LA, USA
期間97-11-0997-11-14

指紋

Redundant manipulators
Decomposition

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

引用此文

Chen, J. S., Cheng, F-T., & Kung, F. C. (1997). Study and resolution of singularities for a 7-DOF redundant manipulator. 1438-1443. 論文發表於 Proceedings of the 1997 23rd Annual International Conference on Industrial Electronics, Control, and Instrumentation, IECON. Part 2 (of 4), New Orleans, LA, USA, .
Chen, Jeng Shi ; Cheng, Fan-Tien ; Kung, Fan Chu. / Study and resolution of singularities for a 7-DOF redundant manipulator. 論文發表於 Proceedings of the 1997 23rd Annual International Conference on Industrial Electronics, Control, and Instrumentation, IECON. Part 2 (of 4), New Orleans, LA, USA, .6 p.
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Chen, JS, Cheng, F-T & Kung, FC 1997, 'Study and resolution of singularities for a 7-DOF redundant manipulator' 論文發表於 Proceedings of the 1997 23rd Annual International Conference on Industrial Electronics, Control, and Instrumentation, IECON. Part 2 (of 4), New Orleans, LA, USA, 97-11-09 - 97-11-14, 頁 1438-1443.

Study and resolution of singularities for a 7-DOF redundant manipulator. / Chen, Jeng Shi; Cheng, Fan-Tien; Kung, Fan Chu.

1997. 1438-1443 論文發表於 Proceedings of the 1997 23rd Annual International Conference on Industrial Electronics, Control, and Instrumentation, IECON. Part 2 (of 4), New Orleans, LA, USA, .

研究成果: Paper

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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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Chen JS, Cheng F-T, Kung FC. Study and resolution of singularities for a 7-DOF redundant manipulator. 1997. 論文發表於 Proceedings of the 1997 23rd Annual International Conference on Industrial Electronics, Control, and Instrumentation, IECON. Part 2 (of 4), New Orleans, LA, USA, .