Robot control in the neighborhood of singular points

摘要

An alternative method is proposed for designing a robot-controller in Cartesian coordinates using a time-scale transformation. The proposed controller achieves slow poles in the area of poor manipulative ability and fast poles in the area of good manipulative ability. Therefore, the robot can be properly controlled in the neighbourhood of singular points without reducing the performance outside the neighborhood of these points.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>