Modifying momentum trajectory generation method using the singularity-consistent approach for redundant manipulator.

Abstract

In recent years a study to move large number of joints in the robot of multi-degree-of-freedom. There is the modifying momentum trajectory generation method as a method to generate a motion trajectory from momentum. Reduction of the base reaction force is confirmed by simulation, but excessive torque is generated near the singularity. This paper propose a method to apply the singularity-consistent approach to the modifying momentum trajectory generation method. The validity of the proposed method was confirmed by trajectory generation simulation from the singularity.