Advertisement

Simplifying Some Characteristics of Manipulators Based on Features of Their Models

  • Ignacy DulebaEmail author
  • Iwona Karcz-Duleba
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 10672)

Abstract

In this paper a method to simply computations of singular configurations of redundant and nonredundant manipulators was presented. Theoretical and numerical aspects of the method were given. Illustrating examples were carried out on models of planar pendula. The method can be also applied to simplify computations of manipulators’ dynamics.

Notes

Acknowledgments

The research was supported by WUST within grant no. 0401/0209/16.

References

  1. 1.
    Spong, M., Vidyasagar, M.: Robot Dynamics And Control. Wiley, London (1989)Google Scholar
  2. 2.
    McKerrow, P.J.: Introduction to Robotics. Electronic Systems Engineering Series. Addison-Wesley Publishing, Boston (1991)Google Scholar
  3. 3.
    Murray, R.M., Li, Z., Sastry, S.: A Mathematical Introduction to Robotic Manipulation. CRC Press, Boca Raton (1994)zbMATHGoogle Scholar
  4. 4.
    Kircanski, M.: Robotic isotropy and optimal robot design of planar manipulators. In: Proceedings IEEE International Conferene on Robotics and Automation, vol. 2, pp. 1100–1105 (1998)Google Scholar
  5. 5.
    Duleba, I.: Structural properties of inertia matrix and gravity vector of dynamics of rigid manipulators. J. Field Robot. 19(11), 555–567 (2002)zbMATHGoogle Scholar
  6. 6.
    Duleba, I., Karcz-Duleba, I.: Simplifying computations of singular configurations using features of manipulators’ models. In: Moreno-Diaz, R., Pichler, F.R., Quesada-Arencibia, A. (eds.) EUROCAST, Las Palmas, pp. 148–149 (2017). (extended abstract)Google Scholar
  7. 7.
    Tchon, K., Jakubiak, J.: Endogenous configuration space approach to mobile manipulators: a derivation and performance assessement of Jacobian inverse kinematics algorithms. Int. J. Control 26(14), 1387–1419 (2003)CrossRefzbMATHGoogle Scholar
  8. 8.
    Brady, M., Hollerbach, J.M., Johnson, T.L., Lozano-Perez, T., Mason, M.T. (eds.): Robot Motion. Planning and Control. Artificial Intelligence. MIT Press, Cambridge (1982)Google Scholar

Copyright information

© Springer International Publishing AG 2018

Authors and Affiliations

  1. 1.Electronics FacultyWroclaw University of TechnologyWroclawPoland

Personalised recommendations