Generating robust trajectories in the presence of ordinary and linear-self-motion singularities

Lloyd, John E.; Hayward, Vincent

doi:10.1109/robot.1998.680924

Cited by 4 publications

References 22 publications

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The kinematics for redundantly actuated omnidirectional mobile robots

Kim

2002

J. Robotic Syst.

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Omnidirectional mobile robots have been popularly employed in several application areas. However, the kinematics and singularity analysis for these systems have not been clearly identified, especially for the redundantly actuated case, which is common in current omnidirectional mobile robots. In light of this fact, this article introduces two different kinematic approaches for a typical omnidirectional mobile robot having three caster wheels, and examines singularity configurations of such systems. Then, a singularity‐free load‐distribution scheme for a redundantly actuated three‐wheeled omnidirectional mobile robot is proposed. Through simulation, several advantages of the redundantly actuated mobile robot (singularity avoidance, input‐load saving, and exploiting several subtasks) are presented. © 2002 Wiley Periodicals, Inc.

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The kinematics for redundantly actuated omnidirectional mobile robots

Kim

2002

J. Robotic Syst.

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The kinematics for redundantly actuated omnidirectional mobile robots

Kim

Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (C

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Path trackability and verification for parallel manipulators

Jui

Sun

2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)

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AbsIract-Even though parallel manipulators are nncontmllahle at force singular positions, our analysis reveals that motion through force singularities may be possible using a path tracking type of approach. This article establishes the condition for trackability of paths in the presence of force singularities, and presents the tools required to verify path trackability. Simulation results of a 2 DOF planar parallel manipulator are shown.

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Generating robust trajectories in the presence of ordinary and linear-self-motion singularities

Cited by 4 publications

References 22 publications

The kinematics for redundantly actuated omnidirectional mobile robots

The kinematics for redundantly actuated omnidirectional mobile robots

The kinematics for redundantly actuated omnidirectional mobile robots

Path trackability and verification for parallel manipulators

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