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- W3150295928 abstract "Abstract In this paper, a heuristic, singularity avoiding, trajectory generation algorithm is developed to solve the singularity problem of a four-jointed robot wrist. Starting from the inverse velocity solutions, a reduced Jacobian matrix is composed to map the system between the joint space and workspace. Six linear combinations of the joint rates are constructed to be used as a family of constraint functions. The forecasting function is very important in the whole algorithm. It is necessary to know in advance if the system is going into or near a singular configuration. The algorithm will determine through forecasting whether to switch from the current constraint function to another which possesses the smallest maximum joint velocity during the forecasting time interval. Trajectories which partially cover the wrist workspace are generated to prove singularity avoidance. The numerical result is shown in the maximum of the min-max joint velocity in different time intervals. It is indicated that the forecasting time interval will effect the singularity avoidance." @default.
- W3150295928 created "2021-04-13" @default.
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- W3150295928 date "1992-09-13" @default.
- W3150295928 modified "2023-09-25" @default.
- W3150295928 title "A Singularity Avoiding Kinematic Solution for a Four-Jointed Robot Wrist Using Heuristic Algorithm" @default.
- W3150295928 doi "https://doi.org/10.1115/detc1992-0229" @default.
- W3150295928 hasPublicationYear "1992" @default.
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