Cartesian trajectory tracking near singularities for a redundant robot
Joint Authors
Benzaoui, Massaouda
Chekireb, Hashimi
Source
Journal of Automation and Systems Engineering
Issue
Vol. 3, Issue 4 (31 Dec. 2009)11 p.
Publisher
Publication Date
2009-12-31
Country of Publication
Algeria
No. of Pages
11
Main Subjects
Engineering & Technology Sciences (Multidisciplinary)
Topics
Abstract EN
Tracking Control of a redundant robot is developed in this paper.
The case studied concerns the tracking of Cartesian trajectory near singularities of 3 DOF planar robot deduced front the PUMA 560 robot.
ln order to achieve the avoidance of singularities without affecting the trajectory tracking, the self-motion is used.
This self-motion is based on the optimization of an analytic function (criteria) according to the manipulator Jacobian.
Three criteria, based respectively on the manipulability measure, the minors and trace of Jacobian, are treated.
The controls incorporating self motion deduced from these three criteria are implemented for the 3 DOF planar robot.
Carried out tests involve the tracking trajectory in Cartesian space near a singular point.
Obtained results show that the three criteria ensure the robot control near the singularity and the most powerful criteria is the manipulability measure.
American Psychological Association (APA)
Benzaoui, Massaouda& Chekireb, Hashimi. 2009. Cartesian trajectory tracking near singularities for a redundant robot. Journal of Automation and Systems Engineering،Vol. 3, no. 4.
https://search.emarefa.net/detail/BIM-180582
Modern Language Association (MLA)
Benzaoui, Massaouda& Chekireb, Hashimi. Cartesian trajectory tracking near singularities for a redundant robot. Journal of Automation and Systems Engineering Vol. 3, no. 4 (Dec. 2009).
https://search.emarefa.net/detail/BIM-180582
American Medical Association (AMA)
Benzaoui, Massaouda& Chekireb, Hashimi. Cartesian trajectory tracking near singularities for a redundant robot. Journal of Automation and Systems Engineering. 2009. Vol. 3, no. 4.
https://search.emarefa.net/detail/BIM-180582
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references.
Record ID
BIM-180582