Universität Bielefeld - Sonderforschungsbereich 360
Generating Robust Trajectories in the Presence
of All Kinematic Singularities
John Lloyd
Department of Computer Science
University of British Columbia
Wednesday, June 3rd, 1998
14.15 h
Room:
Abstract:
An algorithm is presented which computes feasible manipulator
trajectories along fixed paths in the presence of all types of
kinematic singularities. The resulting trajectories are close to
minimum time, subject to bounds on joint velocities and
accelerations. The algorithm has complexity O(M \log M) with
respect to the number of joint coordinates M, and works using
``coordinate pivoting'', in which the path timing is generated
locally with respect to whichever joint coordinate is changing
the fastest. This allows the handling of situations where the
local path speed is zero but some joint velocities are non-zero,
such as at self-motion singularities. Examples of this involving
the PUMA manipulator are shown.
Anke Weinberger, 1998-05-25