Controllability Issues of Robots in Singular Configurations

Lars Nielsen; Carlos Canudas de Wit; Per Hagander

doi:10.1109/ROBOT.1991.131958

Controllability Issues of Robots in Singular Configurations

Lars Nielsen, Carlos Canudas de Wit, Per Hagander

Department of Automatic Control

Research output: Chapter in Book/Report/Conference proceeding › Paper in conference proceeding › peer-review

Abstract

Examples are given that modify some oversimplified statements usually made about the motion of robots in singular configurations. A robot may be controlled in an arbitrary direction from a singular configuration if the velocity profiles are shaped in a proper way. The observations on possible motions open a number of questions, since a wider class of motions is possible that at first sight. Hence, the results are of relevance to path programming, to path following, and to controller design

Original language	English
Title of host publication	Proceedings. 1991 IEEE International Conference on Robotics and Automation, Sacramento, CA, 9-11 April, 1991
Pages	2210-2215
DOIs	https://doi.org/10.1109/ROBOT.1991.131958
Publication status	Published - 1991
Event	IEEE International Conference on Robotics and Automation, 1991 - Sacramento, California, United States Duration: 1991 Apr 9 → 1991 Apr 11

Conference

Conference	IEEE International Conference on Robotics and Automation, 1991
Country/Territory	United States
City	Sacramento, California
Period	1991/04/09 → 1991/04/11

Subject classification (UKÄ)

Control Engineering

Access to Document

10.1109/ROBOT.1991.131958

Cite this

@inproceedings{57a02c8b8251417dafdfc15bab84f302,

title = "Controllability Issues of Robots in Singular Configurations",

abstract = "Examples are given that modify some oversimplified statements usually made about the motion of robots in singular configurations. A robot may be controlled in an arbitrary direction from a singular configuration if the velocity profiles are shaped in a proper way. The observations on possible motions open a number of questions, since a wider class of motions is possible that at first sight. Hence, the results are of relevance to path programming, to path following, and to controller design",

author = "Lars Nielsen and {de Wit}, {Carlos Canudas} and Per Hagander",

year = "1991",

doi = "10.1109/ROBOT.1991.131958",

language = "English",

isbn = "0-8186-2163-X ",

pages = "2210--2215",

booktitle = "Proceedings. 1991 IEEE International Conference on Robotics and Automation, Sacramento, CA, 9-11 April, 1991",

note = "IEEE International Conference on Robotics and Automation, 1991 ; Conference date: 09-04-1991 Through 11-04-1991",

}

Nielsen, L, de Wit, CC & Hagander, P 1991, Controllability Issues of Robots in Singular Configurations. in Proceedings. 1991 IEEE International Conference on Robotics and Automation, Sacramento, CA, 9-11 April, 1991 . pp. 2210-2215, IEEE International Conference on Robotics and Automation, 1991 , Sacramento, California, United States, 1991/04/09. https://doi.org/10.1109/ROBOT.1991.131958

TY - GEN

T1 - Controllability Issues of Robots in Singular Configurations

AU - Nielsen, Lars

AU - de Wit, Carlos Canudas

AU - Hagander, Per

PY - 1991

Y1 - 1991

N2 - Examples are given that modify some oversimplified statements usually made about the motion of robots in singular configurations. A robot may be controlled in an arbitrary direction from a singular configuration if the velocity profiles are shaped in a proper way. The observations on possible motions open a number of questions, since a wider class of motions is possible that at first sight. Hence, the results are of relevance to path programming, to path following, and to controller design

AB - Examples are given that modify some oversimplified statements usually made about the motion of robots in singular configurations. A robot may be controlled in an arbitrary direction from a singular configuration if the velocity profiles are shaped in a proper way. The observations on possible motions open a number of questions, since a wider class of motions is possible that at first sight. Hence, the results are of relevance to path programming, to path following, and to controller design

U2 - 10.1109/ROBOT.1991.131958

DO - 10.1109/ROBOT.1991.131958

M3 - Paper in conference proceeding

SN - 0-8186-2163-X

SP - 2210

EP - 2215

BT - Proceedings. 1991 IEEE International Conference on Robotics and Automation, Sacramento, CA, 9-11 April, 1991

T2 - IEEE International Conference on Robotics and Automation, 1991

Y2 - 9 April 1991 through 11 April 1991

ER -

Controllability Issues of Robots in Singular Configurations

Abstract

Conference

Subject classification (UKÄ)

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Cite this