Singularity Avoidance of Task-Redundant Robots in Pointing Tasks: On Nullspace Projection and Cardan Angles as Orientation Coordinates

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Schappler, M.; Ortmaier, T.: Singularity Avoidance of Task-Redundant Robots in Pointing Tasks: On Nullspace Projection and Cardan Angles as Orientation Coordinates. In: Gusikhin, O.; Nijmeijer, H.; Madani, K. (Eds.): Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics - INCINCO. Setúbal, Portugal : SciTePress, 2021, S. 338-349. DOI: https://doi.org/10.5220/0010621103380349

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To cite the version in the repository, please use this identifier: https://doi.org/10.15488/11140

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Sum total of downloads: 240




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Abstract: 
Robot manipulators are often deployed in tool-symmetric tasks, which only requires defining end effector position and pointing direction. In this case six-axis serial industrial robots and full-mobility (spatial) parallel robots have one degree of task redundancy. Using Cardan angles as orientation coordinates, a unified formulation of the position-level and second-order inverse kinematics problem is set up for both robot types. An efficient scheme for difference-quotient approximation of gradients of performance criteria for projection into the task redundancy's nullspace is presented. The simulation example of a hexapod robot shows that avoiding and exiting parallel robot singularities of type II is possible with the nullspace of all joints. The nullspace controller scheme can be used in offline trajectory optimization and in online motion generation.
License of this version: CC BY-NC-ND 4.0 Unported
Document Type: bookPart
Publishing status: publishedVersion
Issue Date: 2021-07-23
Appears in Collections:Fakultät für Maschinenbau

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pos. country downloads
total perc.
1 image of flag of Germany Germany 97 40.42%
2 image of flag of United States United States 23 9.58%
3 image of flag of India India 16 6.67%
4 image of flag of Italy Italy 13 5.42%
5 image of flag of Iran, Islamic Republic of Iran, Islamic Republic of 8 3.33%
6 image of flag of Canada Canada 7 2.92%
7 image of flag of Japan Japan 6 2.50%
8 image of flag of France France 6 2.50%
9 image of flag of China China 6 2.50%
10 image of flag of Denmark Denmark 5 2.08%
    other countries 53 22.08%

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