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

製造資訊與系統研究所

研究成果: Paper › 同行評審

1 引文斯高帕斯（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
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 11月 9 → 1997 11月 14

Other

Other	Proceedings 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	97-11-09 → 97-11-14

All Science Journal Classification (ASJC) codes

控制與系統工程
電氣與電子工程

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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 Cheng, \{Fan Tien\} and Kung, \{Fan Chu\}",

year = "1997",

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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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

Y1 - 1997

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.

UR - https://www.scopus.com/pages/publications/0031370606

UR - https://www.scopus.com/pages/publications/0031370606#tab=citedBy

M3 - Paper

AN - SCOPUS:0031370606

SP - 1438

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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

摘要

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All Science Journal Classification (ASJC) codes

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