A discrete algorithm for fixed-path trajectory generation at kinematic singularities

An algorithm is presented for computing the necessary time-scaling to allow a non-redundant manipulator to follow a fixed Cartesian path containing kinematic singularities. The resulting trajectory is close to minimum-time, subject to bounds on joint velocities and accelerations. The algorithm assig...

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Bibliographic Details
Published inProceedings of IEEE International Conference on Robotics and Automation Vol. 3; pp. 2743 - 2748 vol.3
Main Authors Lloyd, J.E., Hayward, V.
Format Conference Proceeding
LanguageEnglish
Published IEEE 1996
Subjects
Acceleration
Actuators
Computer science
Damping
Differential equations
H infinity control
Jacobian matrices
Kinematics
Machine intelligence
Timing
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ISBN0780329880
9780780329881
ISSN1050-4729
DOI10.1109/ROBOT.1996.506577

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Summary:An algorithm is presented for computing the necessary time-scaling to allow a non-redundant manipulator to follow a fixed Cartesian path containing kinematic singularities. The resulting trajectory is close to minimum-time, subject to bounds on joint velocities and accelerations. The algorithm assigns a series of knot points along the path, increasing the knot density in the vicinity of singularities. Appropriate path velocities are then computed for each knot point. Two experiments involving the PUMA manipulator are shown.
ISBN:0780329880
9780780329881
ISSN:1050-4729
DOI:10.1109/ROBOT.1996.506577