Publication

Randomized planning of dynamic motions avoiding forward singularities

Conference Article

Conference

International Conference on Advances in Robot Kinematics (ARK)

Edition

16th

Pages

170-178

Doc link

https://doi.org/10.1007/978-3-319-93188-3_20

File

Download the digital copy of the doc pdf document

Abstract

Forward singularities, also known as direct, or actuator singularities, cause many problems to the planning and control of robot motions. They yield position errors and rigidity losses of the robot, and generate unbounded actions in typical control laws. To circumvent these issues, this paper proposes a randomized kinodynamic planner for computing trajectories avoiding such singularities. Given initial and final states for the robot, the planner attempts to connect them by means of a dynamically-feasible, singularity-free trajectory that also respects the force limits of the actuators. The performance of the strategy is illustrated in simulation by means of a parallel robot performing a highly- dynamic task.

Categories

manipulators, robot dynamics, robot kinematics.

Author keywords

Kinodynamic planning, Singularity, Constrained system, RRT, Parallel robots

Scientific reference

R. Bordalba, L. Ros and J.M. Porta. Randomized planning of dynamic motions avoiding forward singularities, 16th International Conference on Advances in Robot Kinematics, 2018, Bologna, Italy, in Advances in Robot Kinematics 2018, Vol 8 of Springer Proceedings in Advanced Robotics, pp. 170-178, 2019.