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A singularity-free path planner for closed-chain manipulators
dc.contributor.author | Bohigas Nadal, Oriol |
dc.contributor.author | Henderson, Michael E. |
dc.contributor.author | Ros Giralt, Lluís |
dc.contributor.author | Porta Pleite, Josep Maria |
dc.contributor.other | Institut de Robòtica i Informàtica Industrial |
dc.date.accessioned | 2013-01-14T18:16:52Z |
dc.date.available | 2013-01-14T18:16:52Z |
dc.date.created | 2012 |
dc.date.issued | 2012 |
dc.identifier.citation | Bohigas, O. [et al.]. A singularity-free path planner for closed-chain manipulators. A: IEEE International Conference on Robotics and Automation. "Proceedings of the 2012 IEEE International Conference on Robotics and Automation". St. Paul - Minessota: IEEE, 2012, p. 2128-2134. |
dc.identifier.isbn | CFP12RAA-USB |
dc.identifier.uri | http://hdl.handle.net/2117/17359 |
dc.description.abstract | This paper provides an algorithm for computing singularity-free paths on non-redundant closed-chain manipulators. Given two non-singular configurations of the manipulator, the method attempts to connect them through a configuration space path that maintains a minimum clearance with respect to the singularity locus at all points. The method is resolutioncomplete, in the sense that it always returns a path if one exists at a given resolution, or returns “failure” otherwise. The path is computed by defining a new manifold that maintains a oneto- one correspondence with the singularity-free configuration space of the manipulator, and then using a higher-dimensional continuation technique to explore this manifold systematically from one configuration, until the second configuration is found. Examples are included that demonstrate the performance of the method on illustrative situations. |
dc.format.extent | 7 p. |
dc.language.iso | eng |
dc.publisher | IEEE |
dc.rights | Attribution-NonCommercial-NoDerivs 3.0 Spain |
dc.rights.uri | http://creativecommons.org/licenses/by-nc-nd/3.0/es/ |
dc.subject | Àrees temàtiques de la UPC::Informàtica::Robòtica |
dc.subject.lcsh | Robots -- Dynamics |
dc.subject.other | robots PARAULES AUTOR: closed-chain motion planning |
dc.subject.other | singularity-free path |
dc.subject.other | higher-dimensional continuation |
dc.subject.other | singularity avoidance |
dc.title | A singularity-free path planner for closed-chain manipulators |
dc.type | Conference report |
dc.subject.lemac | Robots -- Dinàmica |
dc.contributor.group | Universitat Politècnica de Catalunya. ROBiri - Grup de Robòtica de l'IRI |
dc.identifier.doi | 10.1109/ICRA.2012.6224899 |
dc.subject.inspec | Classificació INSPEC::Automation::Robots::Robot kinematics |
dc.relation.publisherversion | http://dx.doi.org/10.1109/ICRA.2012.6224899 |
dc.rights.access | Open Access |
local.identifier.drac | 10805475 |
dc.description.version | Preprint |
local.citation.author | Bohigas, O.; Henderson, M.; Ros, L.; Porta, J.M. |
local.citation.contributor | IEEE International Conference on Robotics and Automation |
local.citation.pubplace | St. Paul - Minessota |
local.citation.publicationName | Proceedings of the 2012 IEEE International Conference on Robotics and Automation |
local.citation.startingPage | 2128 |
local.citation.endingPage | 2134 |