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Singularity Maps of Space Robots and their Application to Gradient-based Trajectory Planning

Calzolari, Davide and Lampariello, Roberto and 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, Virtual Conference. doi: 10.15607/RSS.2020.XVI.015. ISBN 978-0-9923747-6-1. ISSN 2330-765X.

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Official URL: https://roboticsconference.org/2020/program/papers/15.html

Abstract

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.

Item URL in elib:https://elib.dlr.de/138300/
Document Type:Conference or Workshop Item (Other)
Title:Singularity Maps of Space Robots and their Application to Gradient-based Trajectory Planning
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Calzolari, DavideUNSPECIFIEDhttps://orcid.org/0000-0003-0165-7621UNSPECIFIED
Lampariello, RobertoUNSPECIFIEDhttps://orcid.org/0000-0002-8479-2900UNSPECIFIED
Giordano, Alessandro MassimoUNSPECIFIEDhttps://orcid.org/0000-0003-2291-7525UNSPECIFIED
Date:July 2020
Journal or Publication Title:16th Robotics: Science and Systems, RSS 2020
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:No
DOI:10.15607/RSS.2020.XVI.015
ISSN:2330-765X
ISBN:978-0-9923747-6-1
Status:Published
Keywords:Singularity avoidance; Free-Floating; Redundant Robots; Trajectory Planning
Event Title:RSS 2020
Event Location:Virtual Conference
Event Type:international Conference
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - On-Orbit Servicing [SY]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013)
Deposited By: Calzolari, Davide
Deposited On:13 Dec 2020 23:02
Last Modified:20 Nov 2023 09:21

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