An automatic system for the avoidance of wrist singularities in anthropomorphic manipulators

Bianco, Corrado Guarino Lo; Raineri, Marina

doi:10.1109/coase.2017.8256280

Cited by 3 publications

(4 citation statements)

References 21 publications

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“…This manipulator is slightly different from Figure 1, because the elbow has a slight displacement for routing. Considering this displacement, we retain the D-H parameters a 3 and a 4 and rederive equation (21), the determinant of its Jacobian matrix as…”

Section: Singularity Analysis Of 6-dof Anthropomorphic Manipulatorsmentioning

confidence: 99%

“…In this section, we provide details of the proposed type-II algorithm for 6-DOF anthropomorphic manipulator. As discussed in the introduction, the previous studies 21,22,24 rely on singularity analyses of a manipulator’s kinematics in order to design specific control schemes to go through different types of singularities. For example, the notable singularity robust algorithm 24 was designed based on the assumption that the manipulator is kinematically decoupled 29 (e.g.…”

Section: Singularity Handling Algorithmmentioning

confidence: 99%

“…a 6 × 6 ill-conditioned Jacobian matrix becomes a 5 × 5 full rank matrix) and the removed degenerate components with some robot-specific motion. A real-time method 21 is proposed to remove the wrist singularity of a 6-DOF COMAU manipulator to cross the singular point by changing the orientation of the end effector with bounded joint velocities. A hybrid motion controller 22 is designed to switch between a controller for working in the vicinity of singularity and another controller for going through singular regions.…”

Section: Introductionmentioning

confidence: 99%

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A singularity handling algorithm based on operational space control for six-degree-of-freedom anthropomorphic manipulators

Kang

Cheng

Huang

2019

International Journal of Advanced Robotic Systems

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In this article, we analyze the singularities of six-degree-of-freedom anthropomorphic manipulators and design a singularity handling algorithm that can smoothly go through singular regions. We show that the boundary singularity and the internal singularity points of six-degree-of-freedom anthropomorphic manipulators can be identified through a singularity analysis, although they do not possess the nice kinematic decoupling property as six-degree-of-freedom industrial manipulators. Based on this discovery, our algorithm adopts a switching strategy to handle these two cases. For boundary singularities, the algorithm modifies the control input to fold the manipulator back from the singular straight posture. For internal singularities, the algorithm controls the manipulator with null space motion. We show that this strategy allows a manipulator to move within singular regions and back to non-singular regions, so the usable workspace is increased compared with conventional approaches. The proposed algorithm is validated in simulations and real-time control experiments.

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Section: Singularity Analysis Of 6-dof Anthropomorphic Manipulatorsmentioning

confidence: 99%

Section: Singularity Handling Algorithmmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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A singularity handling algorithm based on operational space control for six-degree-of-freedom anthropomorphic manipulators

Kang

Cheng

Huang

2019

International Journal of Advanced Robotic Systems

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“…Currently, the trajectories of applied manipulators are mainly planned through obstacle avoidance by artificial potential field (APF) method, trajectory length calculation by ant colony algorithm, and accurate graph search based on machine vision [13][14][15]. Mohamed et al [16] found the optimal solution to joint variables with distributed AI, and solved the reverse motion of a seven-degrees-of-freedom (DOFs) manipulator.…”

Section: Introductionmentioning

confidence: 99%

A Trajectory Planning Algorithm for Medical Manipulators Based on Adaptive Particle Swarm Optimization and Fuzzy Neural Network

Gao¹,

Pan²

2020

JESA

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With the development of smart healthcare, surgical and rehabilitation robots have permeated into daily medical operations. This raises concerns over the trajectory planning of medical manipulators. Based on particle swarm optimization (PSO) algorithm and fuzzy neural network (FNN), this paper puts forward a trajectory planning algorithm for medical manipulators, which ensures that the target medical manipulator can suppress the residual jitter at the end, while meeting the requirements of high precision, flexible operation, and disturbance resistance. Specifically, a kinetic model was constructed for a medical manipulator of multi-degrees-of-freedoms (DOFs) through position and posture transforms, and used to construct an FNN for trajectory planning. To suppress the jitter at the end, an adaptive PSO algorithm was designed, and combined with the FNN into a trajectory planning algorithm called PSO neural network (PSONN) algorithm. Finally, the proposed algorithm was proved effective through experiments. The research results provide the reference for applying PSO algorithm and FNN in other fields.

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Local Optimal Tracking Control for Manipulators with Restrictive Joint Velocity and Acceleration Limits

Mareczek

2020

2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)

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An automatic system for the avoidance of wrist singularities in anthropomorphic manipulators

Cited by 3 publications

References 21 publications

A singularity handling algorithm based on operational space control for six-degree-of-freedom anthropomorphic manipulators

A singularity handling algorithm based on operational space control for six-degree-of-freedom anthropomorphic manipulators

A Trajectory Planning Algorithm for Medical Manipulators Based on Adaptive Particle Swarm Optimization and Fuzzy Neural Network

Local Optimal Tracking Control for Manipulators with Restrictive Joint Velocity and Acceleration Limits

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