@inproceedings{be75591330424f909827a386b28817d4,
title = "Robot singularity rate control with phantom D.O.F. strategy",
abstract = "Singularity is an inherent problem and an important obstacle to be overcome in robotic kinematics. A robot will lose one or more degrees of freedom (DOF), and joint velocities approach infinite, leading to control instability near singularity configuration. A strategy for stabilizing robot rate control near or at singularity (degenerate) configuration using phantom DOF is proposed. The phantom DOF is considered as part of a robot kinematic velocity model and is activated only when the joint velocity exceeds its limit or at singularity configurations. A numerical illustration of singularity control for a 5-DOF gantry robot is discussed.",
author = "Yevsey Gutman and Lee, \{Ming Yih\} and D'Costa, \{Joseph F.\}",
year = "1991",
doi = "10.1109/icsyse.1991.161091",
language = "英语",
isbn = "0780301730",
series = "IEEE International Conference on Systems Engineering",
publisher = "Publ by IEEE",
pages = "109--112",
booktitle = "IEEE International Conference on Systems Engineering",
note = "1991 IEEE International Conference on Systems Engineering ; Conference date: 01-08-1991 Through 03-08-1991",
}