Abstract
This work reports experimental results on kinematic control of a 6-dof industrial robot manipulator in the neighborhood of kinematic singularities. A weighted damped-least squares inverse kinematics solution with varying damping and weighting factors is devised; a feedback correction error term is added. The performance of the solutions is investigated in two case studies of critical trajectories passing by the shoulder and wrist singularities of the manipulator.
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© 1994 Springer-Verlag London Limited
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Chiaverini, S., Siciliano, B., Egeland, O. (1994). Experimental results on controlling a 6-DOF robot manipulator in the neighborhood of kinematic singularities. In: Yoshikawa, T., Miyazaki, F. (eds) Experimental Robotics III. Lecture Notes in Control and Information Sciences, vol 200. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0027580
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DOI: https://doi.org/10.1007/BFb0027580
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