IEEE - Institute of Electrical and Electronics Engineers, Inc. - Singularity robust manipulator control using virtual joints

Proceedings 2002 IEEE International Conference on Robotics and Automation

Author(s): D. Oetomo ; M.H. Ang, Jr. ; Tao Ming Lim
Sponsor(s): IEEE Robotics & Autom. Soc
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 January 2002
Conference Location: Washington, DC, USA, USA
Conference Date: 11 May 2002
Volume: 3
Page Count: 6
ISBN (Paper): 0-7803-7272-7
DOI: 10.1109/ROBOT.2002.1013594
Regular:

A singularity handling method is proposed in this paper. It is done by introducing virtual redundant joints into the Jacobian matrix to maintain the rank of the Jacobian matrix when singularity... View More

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