Singularity Analysis for Redundant Manipulators of Arbitrary Kinematic Structure

Ahmad A. Almarkhi; Anthony A. Maciejewski

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Paper

Singularity Analysis for Redundant Manipulators of Arbitrary Kinematic Structure

Topics: Engineering Applications on Robotics and Automation

In Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, 42-49, 2019 , Prague, Czech Republic

Authors: Ahmad A. Almarkhi and Anthony A. Maciejewski

Affiliation: Department of Electrical and Computer Engineering, Colorado State University, Fort Collins, CO 80523-1373 and U.S.A.

Keyword(s): Redundant Robots, Singularities, Kinematics.

Abstract: This paper presents a technique to identify singularities of any rank for a robot of any kinematic structure. The technique is based on computing the gradient of singular values of the robot Jacobian. The algorithm deals with the situations when two or more singular values become nearly equal and their corresponding singular vectors are ill-defined. Also, an algorithm is developed to identify the physically meaningful singular directions from the high dimensional singular subspaces of high-rank singularities. The suggested technique is applied to a 4-DoF and a 7-DoF robot to show its efficacy at identifying robot singularities of all ranks and dealing with the ill-defined singular directions.

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Paper citation in several formats:

Almarkhi, A. and Maciejewski, A. (2019). Singularity Analysis for Redundant Manipulators of Arbitrary Kinematic Structure. In Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO; ISBN 978-989-758-380-3; ISSN 2184-2809, SciTePress, pages 42-49. DOI: 10.5220/0007833100420049

@conference{icinco19,
author={Ahmad A. Almarkhi. and Anthony A. Maciejewski.},
title={Singularity Analysis for Redundant Manipulators of Arbitrary Kinematic Structure},
booktitle={Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO},
year={2019},
pages={42-49},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0007833100420049},
isbn={978-989-758-380-3},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO
TI - Singularity Analysis for Redundant Manipulators of Arbitrary Kinematic Structure
SN - 978-989-758-380-3
IS - 2184-2809
AU - Almarkhi, A.
AU - Maciejewski, A.
PY - 2019
SP - 42
EP - 49
DO - 10.5220/0007833100420049
PB - SciTePress