Journal of Dynamic Systems Measurement and Control · 1997 · 15 citations · 9 references
EngineeringMechanical EngineeringRobotics EngineeringRobot ControlRobot KinematicsRoboticsControl TheoryInverse KinematicsJacobian MatricesKinematic ControlRobot ManipulatorsSingularity AnalysisAcceleration ControlDamped Least Squares Inverse KinematicsDampingInverse Differential KinematicsJacobian Matrix AnalysisSingular Value DecompositionTask SpaceTask-space Control
Most of the robot task space control methods based on inverse Jacobian matrix suffer from instability in singular regions of workspace. Methods based on damped least-squares algorithm (DLS) for matrix inversion have been developed but not experimentally confirmed. The application of DLS method at the kinematic control level has been reported in (Chiaverini et al., 1994). In this article, a modified DLS method combined with the resolved-acceleration control scheme, is experimentally verified on two degrees of freedom of a PUMA-560 robot. In order to decrease the position error introduced by the damping, only small singular values are damped, in contrast to the conventional damping method were all the singular values are damped. The symbolic expressions of the singular value decomposition of the Jacobian matrix were used, to decrease the computational burden.
9