Singularity avoidance for SCARA-type robots
Abstract
This paper addresses the following problem: for a SCARA robot and a task specified at a number of discrete points on a workpiece of given shape, find the workpiece location for which the robot remains as far away as possible from singular configurations. The problem is solved by minimizing an objective function related to the robot Jacobian, subject to workspace boundary constraints. Examples are presented in which the optimum location is found using the Hooke-Jeeves direct search algorithm.
- Publication:
-
Israel Society of Aeronautics and Astronautics, 31st Israel Annual Conference on Aviation and Astronautics
- Pub Date:
- February 1990
- Bibcode:
- 1990isaa.conf...41B
- Keywords:
-
- Algorithms;
- Jacobi Matrix Method;
- Robot Arms;
- Robot Control;
- Robots;
- Task Planning (Robotics);
- Trajectory Planning;
- Cartesian Coordinates;
- Computer Aided Manufacturing;
- Optimization;
- Singularity (Mathematics);
- Mechanical Engineering