避免冗余机械手奇点的有界几何范式

Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96 Pub Date : 1996-11-04 DOI:10.1109/IROS.1996.570810

R. Mayorga

{"title":"避免冗余机械手奇点的有界几何范式","authors":"R. Mayorga","doi":"10.1109/IROS.1996.570810","DOIUrl":null,"url":null,"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.","PeriodicalId":374871,"journal":{"name":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96","volume":"65 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1996-11-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"A paradigm of bounded geometry for the singularities avoidance of redundant manipulators\",\"authors\":\"R. Mayorga\",\"doi\":\"10.1109/IROS.1996.570810\",\"DOIUrl\":null,\"url\":null,\"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.\",\"PeriodicalId\":374871,\"journal\":{\"name\":\"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96\",\"volume\":\"65 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"1996-11-04\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/IROS.1996.570810\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/IROS.1996.570810","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}

引用次数: 0

摘要

本文提出了一种避免冗余机械手奇点的有界几何范式。这样的范例使快速和健壮的算法的发展成为可能。该方法基于对表示几何概念的表征矩阵的范数建立适当的界，从而获得奇异避免和鲁棒路径生成的性能指标。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

查看原文本刊更多论文

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

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.

求助全文

通过发布文献求助，成功后即可免费获取论文全文。去求助

来源期刊

Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96

自引率

0.00%

发文量