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Trajectory Generation at or Near Singularities

A method has been devised for controlling the trajectories defined in Cartesian coordinates near or through the kinematic singularities of robot manipulators admitting a closed form kinematic solution. Our work considers a global approach based on ``path energy functions'' which in the regions of singularities reduce the path velocity in such a way that both joint velocities and accelerations remains bounded without incurring any deviation from the desired path. The existence proof of such path velocity schedules has been established for a large class of manipulators and desired trajectories. An algorithm has been found to construct these velocity schedules in the discrete case.

J.E. Lloyd, V. Hayward

Annual Report

Mon Jun 26 21:22:20 GMT 2000