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Controllability Issues of Robots in Singular Configurations

Nielsen, Lars ; de Wit, Carlos Canudas and Hagander, Per LU (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:
author
; and
organization
publishing date
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}},
}