A study on singularity avoidance and robust control of redundant robot

Tae Wook Park, Hyun Seok Yang

Research output: Contribution to conferencePaper

6 Citations (Scopus)

Abstract

Up to the present, a number of performance indices have been proposed for measure of dexterity of manipulators. But, there are many problems connected the physical and mathematical meanings of these measures. In this paper, a new performance index considering aspect maintenance, computational burden, representation of identical unit without regard to robot and effectiveness of algorithm has proposed. This performance index is called reduced minor index. Inverse kinematics is indispensable to robot control. The singularity-robust inverse is used and it offers a feasible motion close to the desired trajectory even at or in the neighborhood of singular points. Control of redundant robot utilizing upper reduced minor index and singularity-robust inverse is applied to the 4 DOF wire-driven robot. The effectiveness of the proposed control algorithm is illustrated with simulation and experiment results.

Original languageEnglish
Pages1687-1691
Number of pages5
Publication statusPublished - 2002 Dec 1
EventProceedings of the 4th World Congress on Intelligent Control and Automation - Shanghai, China
Duration: 2002 Jun 102002 Jun 14

Other

OtherProceedings of the 4th World Congress on Intelligent Control and Automation
CountryChina
CityShanghai
Period02/6/1002/6/14

Fingerprint

Robust control
Robots
Inverse kinematics
Manipulators
Trajectories
Wire
Experiments

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Software
  • Computer Science Applications

Cite this

Park, T. W., & Yang, H. S. (2002). A study on singularity avoidance and robust control of redundant robot. 1687-1691. Paper presented at Proceedings of the 4th World Congress on Intelligent Control and Automation, Shanghai, China.
Park, Tae Wook ; Yang, Hyun Seok. / A study on singularity avoidance and robust control of redundant robot. Paper presented at Proceedings of the 4th World Congress on Intelligent Control and Automation, Shanghai, China.5 p.
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Park, TW & Yang, HS 2002, 'A study on singularity avoidance and robust control of redundant robot' Paper presented at Proceedings of the 4th World Congress on Intelligent Control and Automation, Shanghai, China, 02/6/10 - 02/6/14, pp. 1687-1691.

A study on singularity avoidance and robust control of redundant robot. / Park, Tae Wook; Yang, Hyun Seok.

2002. 1687-1691 Paper presented at Proceedings of the 4th World Congress on Intelligent Control and Automation, Shanghai, China.

Research output: Contribution to conferencePaper

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Park TW, Yang HS. A study on singularity avoidance and robust control of redundant robot. 2002. Paper presented at Proceedings of the 4th World Congress on Intelligent Control and Automation, Shanghai, China.