A geometric tracking of rank-1 manipulability for singularity-robust collision avoidance

Yun, Alchan; Ha, Junhyoung

doi:10.1007/s11370-021-00351-0

Cited by 2 publications

(1 citation statement)

References 34 publications

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“…Many studies have focused on the escapable singularity avoidance of redundant manipulators: the path planning method generates control inputs that increase the directional manipulability of a manipulator along the object direction 20 ; the optimization method 21 optimize the singular conditions to avoid the singularities; for the null space method, an additional solution is calculated by optimization the singular conditions in the null space of the Jacobian 22 to avoid the singularities. The manipulability optimization (MO) method 23–25 avoids the singularities of the redundant manipulators 26 by maximizing the manipulability measure.…”

Section: Introductionmentioning

confidence: 99%

A computationally effective singularity avoidance method for redundant manipulators with non-spherical wrists

Gao

Cao

et al. 2023

Proceedings of the Institution of Mechanical Engineers, Part C:

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For redundant manipulators with non-spherical wrists, we propose a general and computation-effective method of singularity avoidance. Firstly, the dimension of the Jacobian of the redundant manipulator is reduced by the elementary transformation method to obtain the singular factors. Secondly, we use the damped reciprocal method to solve the inverse kinematics solutions of the redundant manipulator. Thirdly, the singularities of the redundant manipulator are divided into non-escapable and escapable singularities, and the singular conditions are determined with the singular factors. Then taking the singularity avoidance as the secondary task of the control system, we propose a singular factor optimization method to avoid both types of singularities of the redundant manipulator. The complexity analysis shows that no need to calculate the pseudo-inverses or partial derivatives of the Jacobian, the proposed method has lower computational complexity. Finally, simulations have been made on the non-escapable and escapable singularities to verify the proposed methods.

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Section: Introductionmentioning

confidence: 99%

A computationally effective singularity avoidance method for redundant manipulators with non-spherical wrists

Gao

Cao

et al. 2023

Proceedings of the Institution of Mechanical Engineers, Part C:

View full text Add to dashboard Cite

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A Simplified Kinematics and Kinetics Formulation for Prismatic Tensegrity Robots: Simulation and Experiments

Yeshmukhametov

Koganezawa

2023

Robotics

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Tensegrity robots offer several advantageous features, such as being hyper-redundant, lightweight, shock-resistant, and incorporating wire-driven structures. Despite these benefits, tensegrity structures are also recognized for their complexity, which presents a challenge when addressing the kinematics and dynamics of tensegrity robots. Therefore, this research paper proposes a new kinematic/kinetic formulation for tensegrity structures that differs from the classical matrix differential equation framework. The main contribution of this research paper is a new formulation, based on vector differential equations, which can be advantageous when it is convenient to use a smaller number of state variables. The limitation of the proposed kinematics and kinetic formulation is that it is only applicable for tensegrity robots with prismatic structures. Moreover, this research paper presents experimentally validated results of the proposed mathematical formulation for a six-bar tensegrity robot. Furthermore, this paper offers an empirical explanation of the calibration features required for successful experiments with tensegrity robots.

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A geometric tracking of rank-1 manipulability for singularity-robust collision avoidance

Cited by 2 publications

References 34 publications

A computationally effective singularity avoidance method for redundant manipulators with non-spherical wrists

A computationally effective singularity avoidance method for redundant manipulators with non-spherical wrists

A Simplified Kinematics and Kinetics Formulation for Prismatic Tensegrity Robots: Simulation and Experiments

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