AN ALGORITHM FOR DETERMINING FEASIBLE ROBOT’S TRAJECTORIES FOR LEAVING A SINGULAR POINT

Q: How can I download an article?

To download an article from SID, first log in to the site, search for the article title, and click on the 'Download Article' option.

Q: How can I download an ISI article?

To download an ISI article on SID, enter the keyword or article title in the search bar, view the relevant results, click on the desired article, and select the 'Download Article' option.

Q: How can I access the SID database?

To access the SID database, visit SID.ir, create an account, and log in to access scientific resources.

Q: Is downloading articles from SID free?

Some articles on SID are available for free, while others require payment. Details are specified on the article's page.

NAJAFI F.; MEHVAR A.H.

مرکز اطلاعات علمی Scientific Information Database (SID) - Trusted Source for Research and Academic Resources

Journal Paper

Paper Information

Journal: JOURNAL OF FACULTY OF ENGINEERING (UNIVERSITY OF TABRIZ) Year:2002 | Volume:27 | Issue:27 Page(s): 47-54

Download Full-Text

Persian Verion

View:

814

Download:

Cites:

Information Journal Paper

Title

AN ALGORITHM FOR DETERMINING FEASIBLE ROBOT’S TRAJECTORIES FOR LEAVING A SINGULAR POINT

Author(s)

NAJAFI F. | MEHVAR A.H. | Issue Writer Certificate

Keywords

INVERSE KINEMATICSQ3

SINGULARITY IN ROBOTSQ3

FEASIBLE TRAJECTORIESQ3

Abstract

Occurrence of singularity in robot manipulators complicates control process of the robots. Suitable design of robot’s trajectories is one of the ways for prevailing over the effects of singularity. In this article a new method for determining FEASIBLE TRAJECTORIES along singular direction that a robot can leave a singular point at the beginning of its trajectory, is presented. On the base of singular value decomposition and mathematical model of singularity, an algorithm is presented for nonredundant robots in singularity with rank deficiency one, to find FEASIBLE TRAJECTORIES along singular direction. Then the results were applied to a six degree of freedom robot and its FEASIBLE TRAJECTORIES are determined.

Cites

No record.

References

No record.

Cite

APA: Copy

NAJAFI, F., & MEHVAR, A.H.. (2002). AN ALGORITHM FOR DETERMINING FEASIBLE ROBOT’S TRAJECTORIES FOR LEAVING A SINGULAR POINT. JOURNAL OF FACULTY OF ENGINEERING (UNIVERSITY OF TABRIZ), 27(27), 47-54. SID. https://sid.ir/paper/43862/en

Vancouver: Copy

NAJAFI F., MEHVAR A.H.. AN ALGORITHM FOR DETERMINING FEASIBLE ROBOT’S TRAJECTORIES FOR LEAVING A SINGULAR POINT. JOURNAL OF FACULTY OF ENGINEERING (UNIVERSITY OF TABRIZ)[Internet]. 2002;27(27):47-54. Available from: https://sid.ir/paper/43862/en

IEEE: Copy

F. NAJAFI, and A.H. MEHVAR, “AN ALGORITHM FOR DETERMINING FEASIBLE ROBOT’S TRAJECTORIES FOR LEAVING A SINGULAR POINT,” JOURNAL OF FACULTY OF ENGINEERING (UNIVERSITY OF TABRIZ), vol. 27, no. 27, pp. 47–54, 2002, [Online]. Available: https://sid.ir/paper/43862/en

Related Journal Papers