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Authors: Moritz Schappler and Tobias Ortmaier

Affiliation: Institute of Mechatronic Systems, Leibniz University Hannover, An der Universität 1, 30823 Garbsen, Germany

Keyword(s): Singularity Avoidance, Nullspace Motion, Task Redundancy, Parallel Robots, Euler Angles, Cardan Angles.

Abstract: Robot manipulators are often deployed in tool-symmetric tasks, which only requires defining end effector position and pointing direction. In this case six-axis serial industrial robots and full-mobility (spatial) parallel robots have one degree of task redundancy. Using Cardan angles as orientation coordinates, a unified formulation of the position-level and second-order inverse kinematics problem is set up for both robot types. An efficient scheme for difference-quotient approximation of gradients of performance criteria for projection into the task redundancy’s nullspace is presented. The simulation example of a hexapod robot shows that avoiding and exiting parallel robot singularities of type II is possible with the nullspace of all joints. The nullspace controller scheme can be used in offline trajectory optimization and in online motion generation.

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Paper citation in several formats:
Schappler, M. and Ortmaier, T. (2021). Singularity Avoidance of Task-redundant Robots in Pointing Tasks: On Nullspace Projection and Cardan Angles as Orientation Coordinates. In Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics - ICINCO; ISBN 978-989-758-522-7; ISSN 2184-2809, SciTePress, pages 338-349. DOI: 10.5220/0010621103380349

@conference{icinco21,
author={Moritz Schappler and Tobias Ortmaier},
title={Singularity Avoidance of Task-redundant Robots in Pointing Tasks: On Nullspace Projection and Cardan Angles as Orientation Coordinates},
booktitle={Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics - ICINCO},
year={2021},
pages={338-349},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0010621103380349},
isbn={978-989-758-522-7},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 18th International Conference on Informatics in Control, Automation and Robotics - ICINCO
TI - Singularity Avoidance of Task-redundant Robots in Pointing Tasks: On Nullspace Projection and Cardan Angles as Orientation Coordinates
SN - 978-989-758-522-7
IS - 2184-2809
AU - Schappler, M.
AU - Ortmaier, T.
PY - 2021
SP - 338
EP - 349
DO - 10.5220/0010621103380349
PB - SciTePress

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