{"title":"基于幻形dooff策略的机器人奇点速率控制","authors":"Y. Gutman, M. Lee, J. D'Costa","doi":"10.1109/ICSYSE.1991.161091","DOIUrl":null,"url":null,"abstract":"Singularity is an inherent problem and an important obstacle to be overcome in robotic kinematics. When it is near a singular configuration, a robot loses one or more degrees of freedom (d.o.f.), and joint velocities approach infinitely leading to control instability. A strategy for stabilizing robot rate control near or at a singularity (degenerate) configuration using phantom d.o.f. is proposed. The phantom d.o.f. is considered as part of a robot kinematic velocity model and is activated only when the joint velocity exceeds its limit or at singularity configurations. A numerical illustration of singularity control of a 5-d.o.f. robot is discussed.<<ETX>>","PeriodicalId":250037,"journal":{"name":"IEEE 1991 International Conference on Systems Engineering","volume":"44 9 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1900-01-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Robot singularity rate control with phantom d.o.f. strategy\",\"authors\":\"Y. Gutman, M. Lee, J. D'Costa\",\"doi\":\"10.1109/ICSYSE.1991.161091\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Singularity is an inherent problem and an important obstacle to be overcome in robotic kinematics. When it is near a singular configuration, a robot loses one or more degrees of freedom (d.o.f.), and joint velocities approach infinitely leading to control instability. A strategy for stabilizing robot rate control near or at a singularity (degenerate) configuration using phantom d.o.f. is proposed. The phantom d.o.f. is considered as part of a robot kinematic velocity model and is activated only when the joint velocity exceeds its limit or at singularity configurations. A numerical illustration of singularity control of a 5-d.o.f. robot is discussed.<<ETX>>\",\"PeriodicalId\":250037,\"journal\":{\"name\":\"IEEE 1991 International Conference on Systems Engineering\",\"volume\":\"44 9 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"1900-01-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"IEEE 1991 International Conference on Systems Engineering\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICSYSE.1991.161091\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"IEEE 1991 International Conference on Systems Engineering","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICSYSE.1991.161091","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Robot singularity rate control with phantom d.o.f. strategy
Singularity is an inherent problem and an important obstacle to be overcome in robotic kinematics. When it is near a singular configuration, a robot loses one or more degrees of freedom (d.o.f.), and joint velocities approach infinitely leading to control instability. A strategy for stabilizing robot rate control near or at a singularity (degenerate) configuration using phantom d.o.f. is proposed. The phantom d.o.f. is considered as part of a robot kinematic velocity model and is activated only when the joint velocity exceeds its limit or at singularity configurations. A numerical illustration of singularity control of a 5-d.o.f. robot is discussed.<>
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