Quantitative Description and Elimination of Singularities in the Case of General Robot Arm Structure

J. K. Tar, J. F. Bitó, I. Rudas

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Dealing with singularities in cases of diverse robot arms is one of the most interesting problems of practical importance in robotics attracting much attention these days. In this paper inverse kinematic tasks of arbitrary manipulator arms are considered at the most general level. on the basis of a nonconventional definition of the concept of singularity continuous quantities are introduced in order to determine "to what extent the problem is singular from the aspect of numerical computation". By the use of these easily computable functions a versatile solution is proposed to eliminate the singularities of the inverse kinematic task of arbitrary -even redundant- manipulators. The usefulness of the method is demonstrated via numerical simulation.

Original languageEnglish
Title of host publicationIROS 1992 - Proceedings of the 1992 IEEE/RSJ International Conference on Intelligent Robots and Systems
Subtitle of host publicationSensor-Based Robotics and Opportunties for its Industrial Applications
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1201-1207
Number of pages7
ISBN (Electronic)0780307372
DOIs
Publication statusPublished - Jan 1 1992
Event1992 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 1992 - Raleigh, United States
Duration: Jul 7 1992Jul 10 1992

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
Volume2
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

Conference1992 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 1992
CountryUnited States
CityRaleigh
Period7/7/927/10/92

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ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

Cite this

Tar, J. K., Bitó, J. F., & Rudas, I. (1992). Quantitative Description and Elimination of Singularities in the Case of General Robot Arm Structure. In IROS 1992 - Proceedings of the 1992 IEEE/RSJ International Conference on Intelligent Robots and Systems: Sensor-Based Robotics and Opportunties for its Industrial Applications (pp. 1201-1207). [594540] (IEEE International Conference on Intelligent Robots and Systems; Vol. 2). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.1992.594540