Singularity Avoidance by Virtual Redundant Axis and its Application to Large Base Motion Compensation of Serial Robots

Proceedings of the 21st International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD 2012) 2012
Vladimirs Ļeontjevs, Francisco Geu Flores, Jesus Lopez, Leonīds Ribickis, Andres Kecskeméthy

This paper describes a new method for robot hand wrist singularity avoidance by using a virtual redundant axis. The method is described for the application of large spatial robot base motion compensation for a 6 degrees of freedom serial manipulator using an inertial measurement unit such that the end effector maintains a prescribed target location. The overall system is tested for a KUKA KR500 system and computer-generated as well as real wave signals with large amplitudes.

Keywords
Serial-Link Manipulator, Kinematical Constraints, Singularity Avoidance, Inertial Measurement Unit, Velocity Estimators.
Hyperlink
http://books.google.lv/books?id=cgdqKEN08ssC&pg=PA77#v=onepage&q&f=false

Ļeontjevs, V., Flores, F., Lopez, J., Ribickis, L., Kecskemethy, A. Singularity Avoidance by Virtual Redundant Axis and its Application to Large Base Motion Compensation of Serial Robots. In: Proceedings of the 21st International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD 2012), Italy, Napoli, 10-13 September, 2012. Torre del Greco: ESA - Edizioni Scientifiche e Artistiche, 2012, pp.77-84. ISBN 9788895430454.

Publication language
English (en)