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Planning singularity-free paths on closed-chain manipulators
Bohigas Nadal, Oriol; Henderson, Michael E.; Ros Giralt, Lluís; Manubens Ferriol, Montserrat; Porta Pleite, Josep Maria
Universitat Politècnica de Catalunya. Institut de Robòtica i Informàtica Industrial; Universitat Politècnica de Catalunya. ROBiri - Grup de Robòtica de l'IRI; Universitat Politècnica de Catalunya. DCCG - Grup de recerca en geometria computacional, combinatoria i discreta
This paper provides an algorithm for computing singularity-free paths on closed-chain manipulators. Given two non-singular configurations of the manipulator, the method attempts to connect them through a path that maintains a minimum clearance with respect to the singularity locus at all points, which guarantees the controllability of the manipulator everywhere along the path. The method can be applied to non-redundant manipulators of general architecture, and it is resolution-complete. It always returns a path whenever one exists at a given resolution, or determines path non-existence otherwise. The strategy relies on defining a smooth manifold that maintains a one-to-one correspondence with the singularity-free C-space of the manipulator, and on using a higher-dimensional continuation technique to explore this manifold systematically from one configuration, until the second configuration is found. If desired, the method can also be used to compute an exhaustive atlas of the whole singularity-free component reachable from a given configuration, which is useful to rapidly resolve subsequent planning queries within such component, or to visualize the singularity-free workspace of any of the manipulator coordinates. Examples are included that demonstrate the performance of the method on illustrative situations.
Peer Reviewed
Àrees temàtiques de la UPC::Informàtica::Robòtica
Robots
robots PARAULES AUTOR: closed-chain motion planning
singularity avoidance
singularity-free path or workspace
higher-dimensional continuation
assembly-mode changing
Robots -- Cinemàtica -- Models matemàtics
info:eu-repo/semantics/submittedVersion
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