여유자유도 로봇을 위한 특이점 회피 성능지수들의 특성화

Characterization of Singularity Avoidance Measures for a Redundant Robot

This paper suggests a measure constraint locus which is the loci of points satisfying the necessary constraint for optimality of a measure in the configuration space. The characterization of four measures for singularity avoidance is worked out by using the measure constraint locus. It gives a global look at the performance of an inverse kinematic algorithm whien each of measures in a kinematically redundant robot is used. The invertible workspace without singularities and the topological properties both on the configuration and operational spaces are analyzed. We discuss also some limitations, based on the topological arguments of measure constraint locus, of the inverse kinematic algorithms, and compare global properties of each of measure. Therfore, a new concept called measure constraint locus gives a methodology for obtaining a conservative joint trajectory without singularities for almost entire workspace.