Singularity avoidance for manipulators with spherical wrists using the approximate damped reciprocal algorithm
文献类型：期刊论文
| 作者 | Yu, Tiantian1,2; Wang, Daqing1; Gao, Lifu1
|
| 刊名 | INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
 |
| 出版日期 | 2021-03-01 |
| 卷号 | 18 |
| 关键词 | Singularity avoidance Jacobian matrix singular factor damped reciprocal spherical wrist |
| ISSN号 | 1729-8814 |
| DOI | 10.1177/1729881421995681 |
| 通讯作者 | Wang, Daqing(dqwang@mail.ustc.edu.cn) |
| 英文摘要 | Due to the loss of freedom, the stability and tracking ability of the manipulator around the singularity become worse. This article aims at improving the accuracy of the manipulator and ensuring the stability of the system with the damped reciprocal method. Firstly, the singularities are separated into forearm and wrist singularities to obtain the singular factors of the manipulator respectively. Secondly, a new mathematical function of the approximate damped reciprocal of the singular factor is proposed. Thirdly, the singularities are avoided by modifying the Jacobian matrixes of the manipulator with the approximate damped reciprocal algorithm. Finally, the effectiveness and the stability of the system are proved by the simulations on a manipulator with the spherical wrist. The simulation results prove that this method can largely improve the accuracy of the end-effector and can ensure the stability of the system around the singular region. |
| 资助项目 | Anhui Natural Science Foundation of China[1808085QF214] ; [XDA22040303] |
| WOS研究方向 | Robotics |
| 语种 | 英语 |
| WOS记录号 | WOS:000636159100001 |
| 出版者 | SAGE PUBLICATIONS INC |
| 资助机构 | Anhui Natural Science Foundation of China |
| 源URL | [http://ir.hfcas.ac.cn:8080/handle/334002/121446]  |
| 专题 | 中国科学院合肥物质科学研究院 |
| 通讯作者 | Wang, Daqing |
| 作者单位 | 1.Chinese Acad Sci, Inst Intelligent Machines, Hefei Inst Phys Sci, 350 Shushanhu Rd, Hefei 23003, Peoples R China 2.Univ Sci & Technol China, Dept Sci Isl, Hefei, Peoples R China |
| 推荐引用方式 GB/T 7714 | Yu, Tiantian,Wang, Daqing,Gao, Lifu. Singularity avoidance for manipulators with spherical wrists using the approximate damped reciprocal algorithm[J]. INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,2021,18. |
| APA | Yu, Tiantian,Wang, Daqing,&Gao, Lifu.(2021).Singularity avoidance for manipulators with spherical wrists using the approximate damped reciprocal algorithm.INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,18. |
| MLA | Yu, Tiantian,et al."Singularity avoidance for manipulators with spherical wrists using the approximate damped reciprocal algorithm".INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS 18(2021). |
入库方式： OAI收割
来源：合肥物质科学研究院
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