Abstract
This research presents a trajectory control for non-redundant serial-link manipulators that is valid for trajectories with ordinary singularities of codimension one and non-ordinary singularities of any codimension. Firstly, it is presented a unified view of tracking algorithms for trajectories with ordinary singularities. Afterwards, several singularity classifications are indicated and illustrated. Then, it is developed a procedure to solve the indeterminate motion of non-ordinary singularities, which is applied to several cases. Finally, the proposed trajectory control is presented and simulated for the 2R manipulator case.
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© 2007 Springer-Verlag Berlin Heidelberg
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Gracia, L., Tornero, J. (2007). Tracking Trajectories with a Robotic Manipulator with Singularities. In: Mele, F., Ramella, G., Santillo, S., Ventriglia, F. (eds) Advances in Brain, Vision, and Artificial Intelligence. BVAI 2007. Lecture Notes in Computer Science, vol 4729. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-75555-5_57
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DOI: https://doi.org/10.1007/978-3-540-75555-5_57
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-75554-8
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