(Department seminar no. 90)

Time: April 4th, 2019, 11:15
Place: room 208 C-3

Speaker: K. Tchoń

Subject: Singularities of nonholonomic robotic systems

Non-holonomic robotic systems subject to linear or affine Pfaffian constraints are studied, represented by control affine or driftless control systems with outputs. The system’s distribution and the input-output map are studied. Jacobian motion planning is considered. Posture and configuration singularities are distinguished. A connection between configuration singularities and the singular optimal controls is shown. A normal form approach based on the feedback equivalence is recommended as a means for describing configuration singularities. An analogy between the classification of singularities by normal forms for holonomic and non-holonomic robotic systems is set forth. The normal form approach is applied to a free-floating space manipulator.

References

1. K. Tchoń and R. Muszyński, ”Singular inverse kinematic problem for robotic manipulators: A normal form approach”, IEEE Trans. Robotics Automat. , 14:93–104, 1998.
2. K. Tchoń, ”On Kinematic Singularities of Nonholonomic Robotic Systems”. In: Proc. RoManSy 13, July 3-6, 2000, Zakopane, Poland, pp. 75–84.
3. K. Tchoń, ”Endogenous Configuration Space Approach: An Intersection of Robotics and Control Theory”. In: Wouw, N. van de, Lefeber, E., Arteaga, I.L. (eds) Nonlinear Systems, LNCIS, vol. 470, pp. 209–234. Springer, (2017).
4. K. Tchoń, W. Respondek and J. Ratajczak, ”Normal forms and configuration singularities of a space manipulator”, J. Intell. Robotic Systems, 93:621?634, 2018.