A paradigm of bounded geometry for the singularities avoidance of redundant manipulators

Abstract

In this article a bounded geometry paradigm for the singularities avoidance of redundant manipulators is presented. Such a paradigm enables the development of fast and robust algorithms. The approach is based on establishing appropriate bounds for the norm of some characterizing matrices, representing some geometrical concepts, in order to obtain some performance indices for singularities avoidance and robust path generation.