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- Nielsen, Lars, et al.
(författare)
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Controllability Issues of Robots in Singular Configurations
- 1991
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Ingår i: Proceedings. 1991 IEEE International Conference on Robotics and Automation, Sacramento, CA, 9-11 April, 1991. - 081862163X ; , s. 2210-2215
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Konferensbidrag (refereegranskat)abstract
- Examples are given that modify some oversimplified statements usually made about the motion of robots in singular configurations. A robot may be controlled in an arbitrary direction from a singular configuration if the velocity profiles are shaped in a proper way. The observations on possible motions open a number of questions, since a wider class of motions is possible that at first sight. Hence, the results are of relevance to path programming, to path following, and to controller design
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