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SME MS910340
- Adaptive, Singularity Avoiding, Trajectory Generating Algorithms For A Four-Jointed Robot Wrist
- standard by Society of Manufacturing Engineers, 06/01/1991
- Publisher: SME
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IN THIS PAPER, A NEW ALGORITHM IS DEVELOPED TO OVERCOME SINGULARITY BY MAKING THE CONSTRAINT FUNCTION AN ADAPTIVE NATURE. THE KINEMATIC CONTROL ALGORITHM POSSESSES THE INTELLIGENCE TO RECOGNIZE IF A CURRENTLY USED CONSTRAINT FUNCTION IS APPROACHING ONE OF ITS ASSOCIATED SINGULARITIES. IF SO, THE ALGORITHM THEN SMOOTHLY CHANGES THE CONSTRAINT FUNCTION INTO ONE WHICH AVOIDS THIS SINGULARITY.
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