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Paper WeA08.3

Bohigas, Oriol (Consejo Superior de Investigaciones Científicas), Henderson, Michael E. (IBM's Thomas J. Watson Research Center), Ros, Lluis (Consejo Superior de Investigaciones Científicas (CSIC)), Porta, Josep M (CSIC-UPC)

A Singularity-Free Path Planner for Closed-Chain Manipulators

Scheduled for presentation during the Regular Session "Motion Path Planning I" (WeA08), Wednesday, May 16, 2012, 09:00−09:15, Meeting Room 8 (Wacipi)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on February 24, 2018

Keywords Motion and Path Planning, Kinematics, Parallel Robots

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 resolution-complete, 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 one-to-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.

 

 

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