Singularity Analysis for Redundant Manipulators of Arbitrary Kinematic Structure

Ahmad Almarkhi, Anthony Maciejewski

Abstract

This paper presents a technique to identify singularities of any rank for a robot of any kinematic structure. The technique is based on computing the gradient of singular values of the robot Jacobian. The algorithm deals with the situations when two or more singular values become nearly equal and their corresponding singular vectors are ill-defined. Also, an algorithm is developed to identify the physically meaningful singular directions from the high dimensional singular subspaces of high-rank singularities. The suggested technique is applied to a 4-DoF and a 7-DoF robot to show its efficacy at identifying robot singularities of all ranks and dealing with the ill-defined singular directions.

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Paper Citation


in Harvard Style

Almarkhi A. and Maciejewski A. (2019). Singularity Analysis for Redundant Manipulators of Arbitrary Kinematic Structure.In Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-380-3, pages 42-49. DOI: 10.5220/0007833100420049


in Bibtex Style

@conference{icinco19,
author={Ahmad Almarkhi and Anthony Maciejewski},
title={Singularity Analysis for Redundant Manipulators of Arbitrary Kinematic Structure},
booktitle={Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2019},
pages={42-49},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0007833100420049},
isbn={978-989-758-380-3},
}


in EndNote Style

TY - CONF

JO - Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Singularity Analysis for Redundant Manipulators of Arbitrary Kinematic Structure
SN - 978-989-758-380-3
AU - Almarkhi A.
AU - Maciejewski A.
PY - 2019
SP - 42
EP - 49
DO - 10.5220/0007833100420049