Minimum infinity-norm joint velocity solutions for singularity-robust inverse kinematics

In this paper, a new method based on minimum infinity-norm joint velocity solutions for a redundant manipulator is proposed to lead it pass through singularities without excessive joint velocities. The infinity-norm is used to overcome the limitations of the minimum 2-norm solutions. In order to mak...

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Bibliographic Details
Published in:International journal of precision engineering and manufacturing 2011-06, Vol.12 (3), p.469-474
Main Authors: Choi, Hee-Byoung, Lee, Sukhan, Lee, Jihong
Format: Article
Language:English
Subjects:
Engineering
Industrial and Production Engineering
Materials Science
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Summary:In this paper, a new method based on minimum infinity-norm joint velocity solutions for a redundant manipulator is proposed to lead it pass through singularities without excessive joint velocities. The infinity-norm is used to overcome the limitations of the minimum 2-norm solutions. In order to make a continuous transition from undamped phase to damped phase in the vicinity of a singular point and to avoid discontinuities in trajectory planning, a new mixing rate is adopted by using sigmoid function with Gaussian distribution. The effectiveness of our approach is compared with other methods in a redundant manipulator by simulation results.
ISSN:2234-7593
2005-4602
DOI:10.1007/s12541-011-0060-5