New Performance Indices for 6R Robot Postures
نویسندگان
چکیده
Singular postures of 6R robots must be avoided because close to singularities an exact tracking of the planned end-effector trajectory requires great angular velocities in the rotary joints. Hence there is an interest in having a distance measure of the instantaneous configuration to the nearest singularity. This article outlines three new methods to measure the closeness to such a singularity. The presented measures are invariant with regard to Euclidean motions and similarities, they have a geometric meaning, and they can be computed in real-time.
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