Controllability Issues of Robots in Singular Configurations
(1991) IEEE International Conference on Robotics and Automation, 1991 p.2210-2215- 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
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/8517521
- author
- Nielsen, Lars ; de Wit, Carlos Canudas and Hagander, Per LU
- organization
- publishing date
- 1991
- type
- Chapter in Book/Report/Conference proceeding
- publication status
- published
- subject
- host publication
- Proceedings. 1991 IEEE International Conference on Robotics and Automation, Sacramento, CA, 9-11 April, 1991
- pages
- 2210 - 2215
- conference name
- IEEE International Conference on Robotics and Automation, 1991
- conference location
- Sacramento, California, United States
- conference dates
- 1991-04-09 - 1991-04-11
- external identifiers
-
- scopus:0025902936
- ISBN
- 0-8186-2163-X
- DOI
- 10.1109/ROBOT.1991.131958
- language
- English
- LU publication?
- yes
- id
- 57a02c8b-8251-417d-afdf-c15bab84f302 (old id 8517521)
- date added to LUP
- 2016-04-04 13:34:56
- date last changed
- 2021-09-26 03:13:46
@inproceedings{57a02c8b-8251-417d-afdf-c15bab84f302, 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}}, author = {{Nielsen, Lars and de Wit, Carlos Canudas and Hagander, Per}}, booktitle = {{Proceedings. 1991 IEEE International Conference on Robotics and Automation, Sacramento, CA, 9-11 April, 1991}}, isbn = {{0-8186-2163-X}}, language = {{eng}}, pages = {{2210--2215}}, title = {{Controllability Issues of Robots in Singular Configurations}}, url = {{http://dx.doi.org/10.1109/ROBOT.1991.131958}}, doi = {{10.1109/ROBOT.1991.131958}}, year = {{1991}}, }