Identification Algorithm to Determine the Trajectory of Robots with Singularities
This addresses the issue of singularity avoidance in robot control, which is crucial for improving reliability and performance in robotics applications, but appears incremental as it builds on existing methods like singular value decomposition.
The paper tackles the problem of robot control singularities by proposing an identification algorithm to determine feasible trajectories that avoid singular situations, using singular value decomposition for non-redundant, single-rank robots and demonstrating it on a six-degree-of-freedom robot.
Singularity in robot controls is an important problem. By identifying an appropriate trajectory for the robots, the singular situations can be avoided. In this paper an identification algorithm is proposed to control the robot such that it can change its direction to avoid the singularity situation. Base on the singular value decomposition, the proposed algorithm is developed for the non-redundant, single-rank robots. The proposed method is employed on a robot with six degrees of freedom, in order to identify its feasible trajectory. Keywords: Singularity; Trajectory identification; Robot control; Identification algorithm; Singular value decomposition.