Calzolari, Davide und Lampariello, Roberto und Giordano, Alessandro Massimo (2020) Singularity Maps of Space Robots and their Application to Gradient-based Trajectory Planning. In: 16th Robotics: Science and Systems, RSS 2020. RSS 2020, 2020-07-12 - 2020-07-16, Virtual Conference. doi: 10.15607/RSS.2020.XVI.015. ISBN 978-0-9923747-6-1. ISSN 2330-765X.
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Offizielle URL: https://roboticsconference.org/2020/program/papers/15.html
Kurzfassung
We present a numerical method to compute singularity sets in the configuration space of free-floating robots, comparing two different criteria based on formal methods. By exploiting specific properties of free-floating systems and an alternative formulation of the generalized Jacobian, the search space and computational complexity of the algorithm is reduced. It is shown that the resulting singularity maps can be applied in the context of trajectory planning to guarantee feasibility with respect to singularity avoidance. The proposed approach is validated on a space robot composed of a six degrees-of-freedom (DOF) arm mounted on a body with six DOF.
elib-URL des Eintrags: | https://elib.dlr.de/138300/ | ||||||||||||||||
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Dokumentart: | Konferenzbeitrag (Anderer) | ||||||||||||||||
Titel: | Singularity Maps of Space Robots and their Application to Gradient-based Trajectory Planning | ||||||||||||||||
Autoren: |
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Datum: | Juli 2020 | ||||||||||||||||
Erschienen in: | 16th Robotics: Science and Systems, RSS 2020 | ||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||
Open Access: | Ja | ||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||
In ISI Web of Science: | Nein | ||||||||||||||||
DOI: | 10.15607/RSS.2020.XVI.015 | ||||||||||||||||
ISSN: | 2330-765X | ||||||||||||||||
ISBN: | 978-0-9923747-6-1 | ||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||
Stichwörter: | Singularity avoidance; Free-Floating; Redundant Robots; Trajectory Planning | ||||||||||||||||
Veranstaltungstitel: | RSS 2020 | ||||||||||||||||
Veranstaltungsort: | Virtual Conference | ||||||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||||||
Veranstaltungsbeginn: | 12 Juli 2020 | ||||||||||||||||
Veranstaltungsende: | 16 Juli 2020 | ||||||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||||||
HGF - Programmthema: | Technik für Raumfahrtsysteme | ||||||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||
DLR - Forschungsgebiet: | R SY - Technik für Raumfahrtsysteme | ||||||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - On-Orbit Servicing [SY] | ||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) | ||||||||||||||||
Hinterlegt von: | Calzolari, Davide | ||||||||||||||||
Hinterlegt am: | 13 Dez 2020 23:02 | ||||||||||||||||
Letzte Änderung: | 11 Jun 2024 10:32 |
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