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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) | ||||||||
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| Additional Information: | LIDO-Berichtsjahr=2000, | ||||||||
| Title: | Solving the Singularity Problem of Non-Redundant Manipulators by Constaint Optimization | ||||||||
| Authors: |
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| 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: |
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| 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 | ||||||||
| HGF - Program: | Space | ||||||||
| 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: | 14 Jan 2010 17:41 |
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