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  • SME MS910340
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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

$9.00$18.00


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.

Product Details

Published:
06/01/1991
Number of Pages:
32
File Size:
1 file , 1.5 MB

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