Tracking Trajectories with a Robotic Manipulator with Singularities

  • Luis Gracia
  • Josep Tornero
Part of the Lecture Notes in Computer Science book series (LNCS, volume 4729)


This research presents a trajectory control for non-redundant serial-link manipulators that is valid for trajectories with ordinary singularities of codimension one and non-ordinary singularities of any codimension. Firstly, it is presented a unified view of tracking algorithms for trajectories with ordinary singularities. Afterwards, several singularity classifications are indicated and illustrated. Then, it is developed a procedure to solve the indeterminate motion of non-ordinary singularities, which is applied to several cases. Finally, the proposed trajectory control is presented and simulated for the 2R manipulator case.


Singularity classification adjoint Jacobian trajectory control 


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Copyright information

© Springer-Verlag Berlin Heidelberg 2007

Authors and Affiliations

  • Luis Gracia
    • 1
  • Josep Tornero
    • 1
  1. 1.Department of Systems Engineering and Control, Technical University of Valencia, Camino de Vera s/n, P.O. Box: 22012, ValenciaSpain

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