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Fang Yuefa
Department of Mechanical Engineering,
Beijing Jiaotong University,
Beijing 100044, China
Tsai Lungwen
Department of Mechanical Engineering,
Bourns College of Engineering,
University of California,
Riverside, CA 92521, USA |
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PRECISE PATH TRACKING THROUGH
SINGULAR CONFIGURATIONS OF
6-DOF SERIAL MANIPULATORS*
Abstract: A novel approach for modeling the manipulator kinematics and solving the feasible motions of a manipulator is presented. The precise path tracking of the end effector through singular configurations is achieved. The linear dependence of the columns and the corresponding rows of the Jacobian matrix at a singular configuration is found by using the null-space approach. As a result, the feasible motions in Cartesian space can be determined. A unique mapping between the feasible motion in Cartesian space and the joint space motion ensures precise path tracking of a manipulator through singular configurations.
Key words:
Singularity Path tracking Serial robot |