Fast pick and place at robot singularities

摘要

In this paper we investigate whether singular configurations may be good sites for high-speed pick or place operations. Motivation comes from the observation that the end effector velocity can be brought to zero at a singularity without stopping the mechanism. This allows the robot to keep some of its kinetic energy while accomplishing the pick or place task and can lead to faster cycle times compared to pick or place at nearby regular configurations.