Singularity avoidance for manipulators with spherical wrists using the approximate damped reciprocal algorithm

doi:10.1177/1729881421995681

	Singularity avoidance for manipulators with spherical wrists using the approximate damped reciprocal algorithm
	Yu, Tiantian 1,2; Wang, Daqing 1; Gao, Lifu 1
刊名	INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS
	2021-03-01
卷号	18
关键词	Singularity avoidance Jacobian matrix singular factor damped reciprocal spherical wrist
ISSN号	1729-8814
DOI	10.1177/1729881421995681
通讯作者	Wang, Daqing(dqwang@mail.ustc.edu.cn)
英文摘要	Due to the loss of freedom, the stability and tracking ability of the manipulator around the singularity become worse. This article aims at improving the accuracy of the manipulator and ensuring the stability of the system with the damped reciprocal method. Firstly, the singularities are separated into forearm and wrist singularities to obtain the singular factors of the manipulator respectively. Secondly, a new mathematical function of the approximate damped reciprocal of the singular factor is proposed. Thirdly, the singularities are avoided by modifying the Jacobian matrixes of the manipulator with the approximate damped reciprocal algorithm. Finally, the effectiveness and the stability of the system are proved by the simulations on a manipulator with the spherical wrist. The simulation results prove that this method can largely improve the accuracy of the end-effector and can ensure the stability of the system around the singular region.
资助项目	Anhui Natural Science Foundation of China[1808085QF214] ; [XDA22040303]
WOS研究方向	Robotics
语种	英语
出版者	SAGE PUBLICATIONS INC
WOS记录号	WOS:000636159100001
资助机构	Anhui Natural Science Foundation of China
内容类型	期刊论文
源URL	[http://ir.hfcas.ac.cn:8080/handle/334002/121446]
专题	中国科学院合肥物质科学研究院
通讯作者	Wang, Daqing
作者单位	1.Chinese Acad Sci, Inst Intelligent Machines, Hefei Inst Phys Sci, 350 Shushanhu Rd, Hefei 23003, Peoples R China 2.Univ Sci & Technol China, Dept Sci Isl, Hefei, Peoples R China
推荐引用方式 GB/T 7714	Yu, Tiantian,Wang, Daqing,Gao, Lifu. Singularity avoidance for manipulators with spherical wrists using the approximate damped reciprocal algorithm[J]. INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,2021,18.
APA	Yu, Tiantian,Wang, Daqing,&Gao, Lifu.(2021).Singularity avoidance for manipulators with spherical wrists using the approximate damped reciprocal algorithm.INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,18.
MLA	Yu, Tiantian,et al."Singularity avoidance for manipulators with spherical wrists using the approximate damped reciprocal algorithm".INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS 18(2021).