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Modified Jacobian method of transversal passing through the smallest deficiency singularities for robot manipulators

Published online by Cambridge University Press:  24 June 2002

Ignacy Duleba  and
Jerzy Z. Sasiadek
Ignacy Duleba
Affiliation:
Inst. of Engineering Cybernetics, Wroclaw University of Technology, Janiszewski St. 11/17, 50-372 Wroclaw (Poland).iwd@ict.pwr.wroc.pl
Jerzy Z. Sasiadek
Affiliation:
Dept. of Mechanical & Aerospace Engineering, Carleton University, 1125 Colonel By Drive, Ottawa K1S 5B6 (Canada).jsas@ccs.carleton.ca
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Abstract

This paper proposes a method for transversal passing through singularities of corank 1, both for nonredundant and redundant robotic manipulators. The method modifies the Jacobian matrix of manipulator's forward kinematics to retrieve its full rank at singularities. Natural candidates for the Jacobian matrix modification are derivatives of determinants of full size sub-matrices of the Jacobian matrix. The method is illustrated with examples, including a PUMA manipulator and 2-link and 3-link planar manipulators. Some restrictions on the applicability of the method for nonredundant manipulators are also discussed.

Keywords

RobotSingularityAlgorithm
Type
Research Article
Information
Robotica , Volume 20 , Issue 4 , July 2002 , pp. 405 - 415
Copyright
© 2002 Cambridge University Press

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