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Solving the Singularity Problem of Non-Redundant Manipulators by Constaint Optimization

Schreiber, Günter and Otter, Martin and Hirzinger, Gerd (1999) Solving the Singularity Problem of Non-Redundant Manipulators by Constaint Optimization. In: Proceedings of the 1999 IEEE/RSJ International Conference on Intelligent Robotics and Systems, pp. 1482-1488. Kyunghee Printing Co.Ltd; Korea. International Conference on Intelligent Robotics and Systems, 1999-10-17 - 1999-10-21, Korea.

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Abstract

A solution to the singularity problem of a non-redundant robot is proposed by reformulating the inverse kinematic problem as a constraint optimization problem. The main idea is to allow a cartesian error in a certain subspace in the vicinity of a singularity and to minimize this error subject to operational constraints such as maximum motor speeds. As a result, in every sampling instant a series of linear least squares problems with linear equality and inequality constraints have to be solved. This task can be carried out on a Pentium processor within a few milliseconds. The new method is demonstrated at hand to some experiments with an industrial robot.

Document Type:Conference or Workshop Item (Paper)
Additional Information:LIDO-Berichtsjahr=2000,
Title:Solving the Singularity Problem of Non-Redundant Manipulators by Constaint Optimization
Authors:
AuthorsInstitution or Email of Authors
Schreiber, GünterUNSPECIFIED
Otter, MartinUNSPECIFIED
Hirzinger, GerdUNSPECIFIED
Date:1999
Journal or Publication Title:Proceedings of the 1999 IEEE/RSJ International Conference on Intelligent Robotics and Systems
Page Range:pp. 1482-1488
Editors:
EditorsEmail
IEEE, UNSPECIFIED
Publisher:Kyunghee Printing Co.Ltd; Korea
Status:Published
Keywords:Singularity, Roboter, Trajectory, Kinematik, Manipulators, Constraint Optimization
Event Title:International Conference on Intelligent Robotics and Systems
Event Location:Korea
Event Type:international Conference
Event Dates:1999-10-17 - 1999-10-21
Organizer:IEEE
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Space (old)
HGF - Program Themes:W SY - Technik für Raumfahrtsysteme
DLR - Research area:Space
DLR - Program:W SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):W - Weiterentwicklung Robotik - Mechatronik und Dynamik (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics
Deposited By: elib DLR-Beauftragter
Deposited On:11 Jan 2006
Last Modified:12 Dec 2013 20:01

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