2010 IEEE/RSJ International Conference on Intelligent Robots and Systems 2010
DOI: 10.1109/iros.2010.5650609
|View full text |Cite
|
Sign up to set email alerts
|

Momentum conserving path tracking through dynamic singularities with a flexible-base redundant manipulator

Help me understand this report

Search citation statements

Order By: Relevance

Paper Sections

Select...
2
1

Citation Types

0
3
0

Year Published

2015
2015
2019
2019

Publication Types

Select...
4
2

Relationship

0
6

Authors

Journals

citations
Cited by 8 publications
(3 citation statements)
references
References 18 publications
0
3
0
Order By: Relevance
“…These cases arose because the constraint on realizing reactionless motion was added to tip position control such that the desired joint angular velocity could not be solved for. Thus, the divergence condition due to the addition of the dynamic constraint is called "dynamic singularity," for which a solution has not yet been established [13]. For the future, therefore, it is necessary to construct a control law to avoid or negotiate the dynamic singularity.…”
Section: B Simulation Resultsmentioning
confidence: 99%
See 1 more Smart Citation
“…These cases arose because the constraint on realizing reactionless motion was added to tip position control such that the desired joint angular velocity could not be solved for. Thus, the divergence condition due to the addition of the dynamic constraint is called "dynamic singularity," for which a solution has not yet been established [13]. For the future, therefore, it is necessary to construct a control law to avoid or negotiate the dynamic singularity.…”
Section: B Simulation Resultsmentioning
confidence: 99%
“…Furthermore, the acceptable error ranges ǫ 0 and ǫ d are set to deal with cases where a perfect elliptical trajectory cannot be generated in a direction perpendicular to the surface. By solving the constrained non-linear optimization problem using (8) - (13), the desired elliptical trajectory can be generated.…”
Section: A Tip Position Control 1) Control Lawmentioning
confidence: 99%
“…Thus, the divergence condition caused by adding the dynamic constraint condition is called the "dynamic singularity," for which a solution has not yet been established. 12) For the future, therefore, it will be necessary to construct a control law for avoiding or passing through the dynamic singularity.…”
Section: Resultsmentioning
confidence: 99%