A singularity-robust trajectory generation algorithm has been presented which takes as input a specific path X(s) and a corresponding kinematic solution q(s) ...

A singularity-robust trajectory generation algorithm has been presented that takes as input a specific path X(s) and a corre- sponding kinematic solution q ...

A discrete algorithm for fixed-path trajectory generation at kinematic singularities . In Proceedings of the IEEE International Conference on Robotics and ...

The algorithm uses coordinate pivoting, in which the path timing is generated locally with respect to whichever joint coordinate is changing the fastest. This ...

A singularity-robust trajectory generator is presented that, given a prescribed manipulator path and corresponding kinematic solution, computes a feasible ...

In this paper a singularity robust trajectory generator for robotic manipulators is pre- sented. The generator contains the procedure of solving the inverse ...

Dec 28, 2018 · In this paper a singularity robust trajectory generator for robotic manipulators is presented. The generator contains the procedure of ...

Apr 16, 1998 · This allows the handling of singular situations, including linear self-motions (e.g., wrist singularities), where the path speed is zero but ...

We present an algorithm for computing a robust adaptive polygonal approximation of an implicit curve in the plane. The approximation is adapted to the ...

Abstract: An algorithm is presented which computes feasible manipulator trajectories along fixed paths in the presence of kinematic singularities.