Natural Motion and Singularity-Consistent Inversion of Robot Manipulators

Nenchev, Dragomir N.

doi:10.1007/978-3-540-37347-6_2

Cited by 3 publications

(3 citation statements)

References 32 publications

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“…[13,14] It is worth noting that in the special case of natural motion, i.e. with a constant b, the force componentḃM(q)n(q) in the direction of generalized momentum becomes zero.…”

Section: Dynamical Relationsmentioning

confidence: 99%

“…The framework has facilitated the introduction of natural motion -the special type of path following noted in the previous section -that can ensure stable control for paths passing within the neighborhood of and through kinematic singularities. [13] This framework will be used herein as a suitable platform for the comparative analysis. The notation is briefly reviewed below; for further details, interested readers are referred to [16,17].…”

Section: Singularity-consistent Frameworkmentioning

confidence: 99%

“…flight control [11] and autonomous marine craft control. [12] In our previous work, [13,14] we have shown that when the path-following speed is set to be in proportion to the determinant of the Jacobian, there is a significant impact on * Corresponding author. Email: nenchev@tcu.ac.jp the motion dynamics: the dynamical system is transformed into an autonomous one, and in addition, the control torque can be derived from a pure (configuration-dependent) potential function.…”

Section: Introductionmentioning

confidence: 98%

See 2 more Smart Citations

Simple timing generation along workspace paths for nonredundant robotic limbs

Taki¹,

Handa²,

Hara³

et al. 2013

Advanced Robotics

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This article focuses on the relation between workspace path geometry and the timing along the path, obtained via simple timing generators yielding constant end-link speed motion, natural motion, and two types of globally optimized joint velocity motions. The generators are designed within the Singularity-Consistent framework developed originally to tackle motion control in the vicinity of kinematic singularities. A comparative study highlights how performance expressed in terms of various kinematic and dynamic criteria of local (peak joint velocity and torque) and global (joint velocity/torque uniformity and total mechanical power) nature is influenced by the curvature of the path image in configuration space and by the vicinity of singular configurations. Results from simulations with a simple planar 2R limb and a spatial 3R positioning limb following linear and circular paths are presented.

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“…[13,14] It is worth noting that in the special case of natural motion, i.e. with a constant b, the force componentḃM(q)n(q) in the direction of generalized momentum becomes zero.…”

Section: Dynamical Relationsmentioning

confidence: 99%