Universität Bielefeld - Sonderforschungsbereich 360
Removing the Singularities of Serial Manipulators
by Transforming the Workspace
John Lloyd
Department of Computer Science
University of British Columbia
Tuesday, June 2nd, 1998
14.15 h
Room:
Abstract:
A new method of handling the kinematic singularities of serial
robotic manipulators is described. The idea is to transform the
manipulator's workspace W into a desingularized workspace WX. Robotic
motions can then be planned anywhere in WX, subject to limits on
spatial velocity and acceleration, and the resulting joint velocities
and accelerations will be well-behaved and bounded. WX differs from W
only near a singularity surface, where a deformation is applied in
the direction normal to the surface. While the technique does not
handle self-motion singularities and may not be practical in some
cases, it is very easy to implement for certain manipulators, such as
the PUMA, which is studied in the paper. When applicable, the method
offers various advantages when compared with other methods of
singularity control.
Anke Weinberger, 1998-05-25