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dc.contributor.authorBohigas Nadal, Oriol
dc.contributor.authorHenderson, Michael E
dc.contributor.authorRos Giralt, Lluís
dc.contributor.authorPorta Pleite, Josep Maria
dc.contributor.otherInstitut de Robòtica i Informàtica Industrial
dc.identifier.citationBohigas, 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.description.abstractThis 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.extent7 p.
dc.rightsAttribution-NonCommercial-NoDerivs 3.0 Spain
dc.subjectÀrees temàtiques de la UPC::Informàtica::Robòtica
dc.subject.lcshRobots -- Dynamics
dc.subject.otherrobots PARAULES AUTOR: closed-chain motion planning
dc.subject.othersingularity-free path
dc.subject.otherhigher-dimensional continuation
dc.subject.othersingularity avoidance
dc.titleA singularity-free path planner for closed-chain manipulators
dc.typeConference report
dc.subject.lemacRobots -- Dinàmica
dc.contributor.groupUniversitat Politècnica de Catalunya. ROBiri - Grup de Robòtica de l'IRI
dc.subject.inspecClassificació INSPEC::Automation::Robots::Robot kinematics
dc.rights.accessOpen Access
upcommons.citation.authorBohigas, O.; Henderson, M.; Ros, L.; Porta, J.M.
upcommons.citation.contributorIEEE International Conference on Robotics and Automation
upcommons.citation.pubplaceSt. Paul - Minessota
upcommons.citation.publicationNameProceedings of the 2012 IEEE International Conference on Robotics and Automation

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