Multi-Objective GA for Path Planning of Robot Manipulators Based on Dual Quaternion

Cea-Montufar, C.E.; Merchán-Cruz, Emmanuel Alejandro; Ramírez-Gordillo, Javier; Vergara-Hernandez, E.; Cerro-Ramirez, M.A.

doi:10.1109/la-cci.2018.8625213

Cited by 1 publication

(2 citation statements)

References 5 publications

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“…However, the 6-DOF anthropomorphic manipulators do not possess this nice characteristic. Therefore, in this article, we compute the determinant of equation (17) using symbolic computation, showing that…”

Section: Singularity Analysis Of 6-dof Anthropomorphic Manipulatorsmentioning

confidence: 99%

“…Other singularity avoidance methods include replanning the desired trajectory in the vicinity of singularity. 17 For multiple manipulators, the singularity-free trajectory planning 18 plans the trajectory of two arms by the linear momentum conservation equation to keep the attitude and centroid position of the base stabilized in inertial space. For collaborative robots, the study 19 proposed an anticipative kinematic limitation avoidance algorithm that utilizes a sliding direction to avoid the joint limitations, singularities, and collisions.…”

Section: Introductionmentioning

confidence: 99%

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A singularity handling algorithm based on operational space control for six-degree-of-freedom anthropomorphic manipulators

Kang

Cheng

Huang

2019

International Journal of Advanced Robotic Systems

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In this article, we analyze the singularities of six-degree-of-freedom anthropomorphic manipulators and design a singularity handling algorithm that can smoothly go through singular regions. We show that the boundary singularity and the internal singularity points of six-degree-of-freedom anthropomorphic manipulators can be identified through a singularity analysis, although they do not possess the nice kinematic decoupling property as six-degree-of-freedom industrial manipulators. Based on this discovery, our algorithm adopts a switching strategy to handle these two cases. For boundary singularities, the algorithm modifies the control input to fold the manipulator back from the singular straight posture. For internal singularities, the algorithm controls the manipulator with null space motion. We show that this strategy allows a manipulator to move within singular regions and back to non-singular regions, so the usable workspace is increased compared with conventional approaches. The proposed algorithm is validated in simulations and real-time control experiments.

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Section: Singularity Analysis Of 6-dof Anthropomorphic Manipulatorsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

A singularity handling algorithm based on operational space control for six-degree-of-freedom anthropomorphic manipulators

Kang

Cheng

Huang

2019

International Journal of Advanced Robotic Systems

View full text Add to dashboard Cite

show abstract

Multi-Objective GA for Path Planning of Robot Manipulators Based on Dual Quaternion

Cited by 1 publication

References 5 publications

A singularity handling algorithm based on operational space control for six-degree-of-freedom anthropomorphic manipulators

A singularity handling algorithm based on operational space control for six-degree-of-freedom anthropomorphic manipulators

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