特異点を回避するロボット軌道同定アルゴリズム
Identification Algorithm to Determine the Trajectory of Robots with Singularities
特異値分解を用いて、6自由度ロボットが特異点を避けるように進路を変更できる軌道を同定する手法を提案した論文。
著者: Hossein Sharifi, William C. Black
分類: cs.RO
原文アブストラクト
Singularity in robot controls is an important problem. By identifying an appropriate trajectory for the robots, the singular situations can be avoided. In this paper an identification algorithm is proposed to control the robot such that it can change its direction to avoid the singularity situation. Base on the singular value decomposition, the proposed algorithm is developed for the non-redundant, single-rank robots. The proposed method is employed on a robot with six degrees of freedom, in order to identify its feasible trajectory. Keywords: Singularity; Trajectory identification; Robot control; Identification algorithm; Singular value decomposition.