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Controllability Issues of Robots in Singular Configurations

Nielsen, Lars (author)
de Wit, Carlos Canudas (author)
Hagander, Per (author)
Lund University,Lunds universitet,Institutionen för reglerteknik,Institutioner vid LTH,Lunds Tekniska Högskola,Department of Automatic Control,Departments at LTH,Faculty of Engineering, LTH
 (creator_code:org_t)
1991
1991
English.
In: Proceedings. 1991 IEEE International Conference on Robotics and Automation, Sacramento, CA, 9-11 April, 1991. - 081862163X ; , s. 2210-2215
  • Conference paper (peer-reviewed)
Abstract Subject headings
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  • 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

Subject headings

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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Nielsen, Lars
de Wit, Carlos C ...
Hagander, Per
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ENGINEERING AND TECHNOLOGY
ENGINEERING AND ...
and Electrical Engin ...
and Control Engineer ...
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Proceedings. 199 ...
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Lund University

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