Controllability Issues of Robots in Singular Configurations

• 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

Ämnesord

TEKNIK OCH TEKNOLOGIER  -- Elektroteknik och elektronik -- Reglerteknik (hsv//swe)

ENGINEERING AND TECHNOLOGY  -- Electrical Engineering, Electronic Engineering, Information Engineering -- Control Engineering (hsv//eng)

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kon (ämneskategori)

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