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

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dc.identifier.uri http://dx.doi.org/10.15488/11140
dc.identifier.uri https://www.repo.uni-hannover.de/handle/123456789/11225
dc.contributor.author Schappler, Moritz eng
dc.contributor.author Ortmaier, Tobias eng
dc.contributor.editor Gusikhin, Oleg
dc.contributor.editor Nijmeijer, Henk
dc.contributor.editor Madani, Kurosh
dc.date.accessioned 2021-07-26T04:45:17Z
dc.date.available 2021-07-26T04:45:17Z
dc.date.issued 2021-07-23
dc.identifier.citation 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 eng
dc.description.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. eng
dc.language.iso eng eng
dc.publisher Setúbal, Portugal : SciTePress
dc.rights CC BY-NC-ND 4.0 Unported eng
dc.rights.uri https://creativecommons.org/licenses/by-nc-nd/4.0/
dc.subject Singularity Avoidance eng
dc.subject Nullspace Motion eng
dc.subject Task Redundancy eng
dc.subject Parallel Robots eng
dc.subject Euler Angles eng
dc.subject Cardan Angles eng
dc.subject.classification Konferenzschrift ger
dc.subject.ddc 620 | Ingenieurwissenschaften und Maschinenbau eng
dc.title Singularity Avoidance of Task-Redundant Robots in Pointing Tasks: On Nullspace Projection and Cardan Angles as Orientation Coordinates eng
dc.type bookPart eng
dc.type Text eng
dc.relation.isbn 978-989-758-522-7
dc.relation.doi 10.5220/0010621103380349
dc.description.version publishedVersion eng
tib.accessRights frei zug�nglich eng


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