论文信息 - Singularity avoidance in redundant robots using hybrid automaton

Singularity avoidance in redundant robots using hybrid automaton

We investigate in this work the possibility to solve the problem of singularity in redundant robotic systems using a hybrid automaton model. In this way, an index of kinematic performance as method of singularity verification is introduced. Simulation results of a planar redundant manipulator shows that the method is promising.

Raul Guenther | Guilherme Bittencourt | Carlos Henrique dos Santos | Edson De Pieri

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