Abstract
Forward singularities, also known as direct, or actuator singularities, cause many problems to the planning and control of robot motions. They yield position errors and rigidity losses of the robot, and generate unbounded actions in typical control laws. To circumvent these issues, this paper proposes a randomized kinodynamic planner for computing trajectories avoiding such singularities. Given initial and final states for the robot, the planner attempts to connect them by means of a dynamically-feasible, singularity-free trajectory that also respects the force limits of the actuators. The performance of the strategy is illustrated in simulation by means of a parallel robot performing a highly-dynamic task.
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Acknowledgements
Work partially funded by the Spanish Ministry of Economy and Competitiveness under projects DPI2014-57220-C2-2-P and DPI2017-88282-P.
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Bordalba, R., Ros, L., Porta, J.M. (2019). Randomized Planning of Dynamic Motions Avoiding Forward Singularities. In: Lenarcic, J., Parenti-Castelli, V. (eds) Advances in Robot Kinematics 2018. ARK 2018. Springer Proceedings in Advanced Robotics, vol 8. Springer, Cham. https://doi.org/10.1007/978-3-319-93188-3_20
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DOI: https://doi.org/10.1007/978-3-319-93188-3_20
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