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dc.contributor.authorSverdrup-Thygeson, Jørgen
dc.contributor.authorMoe, Signe
dc.contributor.authorPettersen, Kristin Ytterstad
dc.contributor.authorGravdahl, Jan Tommy
dc.date.accessioned2017-11-02T08:03:26Z
dc.date.available2017-11-02T08:03:26Z
dc.date.created2017-11-01T10:44:31Z
dc.date.issued2017
dc.identifier.isbn978-1-5090-2181-9
dc.identifier.urihttp://hdl.handle.net/11250/2463587
dc.description.abstractThis paper proposes a novel method for kinematic singularity avoidance for robot manipulators. Using set-based singularity avoidance tasks within the singularity-robust multiple task priority framework, avoidance of kinematic singularities is guaranteed without interfering with the convergence of compatible equality tasks. Non-compatible equality tasks will still be fulfilled to the extent possible. In addition, the method can be used to reconfigure the robot into a more dexterous configuration. The proposed method is applicable to both redundant and nonredundant robots, with both fixed base and floating base. The implementation is generic and independent of the type and number of tasks. Although also applicable for non-redundant fixed base robot manipulators, this novel approach is particularly well suited for highly redundant and/or floating base manipulators, since the robot configuration can be changed to improve the dexterity of the manipulator arm. We demonstrate the method by applying it to an underwater swimming manipulator, which is an innovative and highly redundant underwater floating base manipulator. Furthermore, simulation results are presented that illustrate and validate the proposed method.nb_NO
dc.language.isoengnb_NO
dc.publisherIEEEnb_NO
dc.relation.ispartof1st IEEE Conference on Control Technology and Applications
dc.titleKinematic singularity avoidance for robot manipulators using set-based manipulability tasksnb_NO
dc.typeChapternb_NO
dc.description.versionacceptedVersionnb_NO
dc.source.pagenumber142-149nb_NO
dc.identifier.cristin1509657
dc.relation.projectNorges forskningsråd: 223254nb_NO
dc.relation.projectVISTA: 6603nb_NO
dc.description.localcode© 2017 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes,creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. This is the authors' accepted and refereed manuscript to the article.nb_NO
cristin.unitcode194,63,25,0
cristin.unitnameInstitutt for teknisk kybernetikk
cristin.ispublishedtrue
cristin.fulltextpostprint
cristin.qualitycode1


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