Abstract
Redundant and singular consistent movement is calculated via the Jacobian transposed matrix J T. The proposed algorithm is enhanced by a correction function g and stability proven by Ljapunow theory. A new heuristic measure for treating kinematic singularities is introduced. The algorithm is numerically efficient, able to cross and escape singularities, and performs for redundant and non-redundant robots as well. The introduced heuristic measures the “singulation” of the current joint configuration. It’s especially very helpful for tracking a path commanded by a teach device, like the DLR SpaceMouse.
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© 1998 Springer Science+Business Media Dordrecht
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Schreiber, G., Hirzinger, G. (1998). Singularity Consistent Inverse Kinematics by Enhancing the Jacobian Transpose. In: Lenarčič, J., Husty, M.L. (eds) Advances in Robot Kinematics: Analysis and Control. Springer, Dordrecht. https://doi.org/10.1007/978-94-015-9064-8_48
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DOI: https://doi.org/10.1007/978-94-015-9064-8_48
Publisher Name: Springer, Dordrecht
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