Singularity avoidance for articulated robots

Robotics and Autonomous Systems ◽

10.1016/s0921-8890(96)00028-0 ◽

1997 ◽

Vol 20 (1) ◽

pp. 39-47 ◽

Author(s):

L. Beiner

Keyword(s):

Singularity Avoidance ◽

Articulated Robots

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A Riemannian metric for geometry-aware singularity avoidance by articulated robots

Robotics and Autonomous Systems ◽

10.1016/j.robot.2021.103865 ◽

2021 ◽

pp. 103865

Author(s):

Filip Marić ◽

Luka Petrović ◽

Marko Guberina ◽

Jonathan Kelly ◽

Ivan Petrović

Keyword(s):

Riemannian Metric ◽

Singularity Avoidance ◽

Articulated Robots

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Singularity Avoidance Algorithm Based on Bounded Deviation Path Correction Method

Journal of Physics Conference Series ◽

10.1088/1742-6596/1820/1/012195 ◽

2021 ◽

Vol 1820 (1) ◽

pp. 012195

Author(s):

Nei Wang ◽

Bin Li ◽

Qiwei Lai ◽

Chao Xiang ◽

Di Wu

Keyword(s):

Correction Method ◽

Singularity Avoidance

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Self-Tuning Control for Articulated Robots Using the Plestan’s Method

International Journal of Precision Engineering and Manufacturing ◽

10.1007/s12541-021-00488-z ◽

2021 ◽

Vol 22 (4) ◽

pp. 557-566

Author(s):

Maolin Jin ◽

Jinoh Lee ◽

Kap-Ho Seo ◽

Jin-Ho Suh

Keyword(s):

Self Tuning ◽

Articulated Robots

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MIMO adaptive control with ∊-modification and on-line singularity avoidance method for hyper-redundant robotic arm

2016 IEEE National Aerospace and Electronics Conference (NAECON) and Ohio Innovation Summit (OIS) ◽

10.1109/naecon.2016.7856801 ◽

2016 ◽

Author(s):

Xingsheng Xu ◽

Raul Ordonez

Keyword(s):

Adaptive Control ◽

Robotic Arm ◽

Singularity Avoidance ◽

Line Singularity ◽

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Improvement of Singularity Avoidance for Three Dimensional Planar Manipulators by Increasing their Degrees of Freedom

2012 International Symposium on Computer, Consumer and Control ◽

10.1109/is3c.2012.149 ◽

2012 ◽

Author(s):

Samer Yahya ◽

M. Moghavvemi ◽

Haider A.F. Mohamed

Keyword(s):

Degrees Of Freedom ◽

Three Dimensional ◽

Singularity Avoidance ◽

Planar Manipulators

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Global Singularity Avoidance Steering Law for Single-Gimbal Control Moment Gyroscopes

Journal of Guidance Control and Dynamics ◽

10.2514/1.g002331 ◽

2017 ◽

Vol 40 (11) ◽

pp. 3034-3041 ◽

Author(s):

Yunhai Geng ◽

Zhili Hou ◽

Simeng Huang

Keyword(s):

Singularity Avoidance ◽

Control Moment ◽

Control Moment Gyroscopes ◽

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Agile Attitude Control and Singularity Avoidance/Escape by the SDRE Method Using a Biased State-Dependent Weighting Matrix

Applied Sciences ◽

10.3390/app8010140 ◽

2018 ◽

Vol 8 (1) ◽

pp. 140 ◽

Author(s):

Ryotaro Ozawa ◽

Masaki Takahashi

Keyword(s):

Attitude Control ◽

Singularity Avoidance ◽

Weighting Matrix ◽

State Dependent

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Optimal robot placement with consideration of redundancy problem for wrist-partitioned 6R articulated robots

Robotics and Computer-Integrated Manufacturing ◽

10.1016/j.rcim.2017.04.007 ◽

2017 ◽

Vol 48 ◽

pp. 233-242 ◽

Author(s):

Ngoc Chi Nam Doan ◽

Wei Lin

Keyword(s):

Redundancy Problem ◽

Articulated Robots ◽

Robot Placement

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CMG Singularity Avoidance in Attitude Control of a Flexible Spacecraft

1993 American Control Conference ◽

10.23919/acc.1993.4792805 ◽

1993 ◽

Author(s):

Raymond H. Kraft

Keyword(s):

Attitude Control ◽

Flexible Spacecraft ◽

Singularity Avoidance

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Particle production, back reaction and singularity avoidance

Pramana ◽

10.1007/bf02827597 ◽

1999 ◽

Vol 52 (1) ◽

pp. 1-17 ◽

Author(s):

A. Shaw ◽

D. Biswas ◽

B. Modak ◽

S. Biswas

Keyword(s):

Particle Production ◽

Back Reaction ◽

Singularity Avoidance

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