IEEE Transactions on Robotics and Automation · 1997 · 669 citations · 20 references
EngineeringMechanical EngineeringRobotics EngineeringRobot ControlRobot KinematicsRoboticsKinematic ConstraintsKinematic ControlKinematicsRedundancy ResolutionRobot ManipulatorsSingularity AnalysisKinematic Redundancy ResolutionRedundant Manipulator ControlRedundant Manipulator ResolutionSingularitiesSingularity Analysis Of Robotic ArmsSingularity Robust ControlSingularity TheoryTask-priority Control
Practical application of task‑priority redundancy resolution must handle kinematic and algorithmic singularities. The paper aims to study existing singularity‑robust methods for redundant arms and to develop a new technique that overcomes algorithmic singularities. The authors present a computationally efficient method, applied to a seven‑degree‑of‑freedom manipulator in numerical case studies, suitable for real‑time kinematic control.
Practical application of the task-priority redundancy resolution technique must deal with the occurrence of kinematic and algorithmic singularities. The aim of this paper is twofold. First, the application of existing singularity-robust methods to the case of kinematically redundant arms is studied. Then, a new task-priority redundancy resolution technique is developed that overcomes the effects of algorithmic singularities. Computational aspects of the solutions are also considered in view of real-time implementation of a kinematic control algorithm. The method is applied to a seven-degree-of-freedom manipulator in numerical case studies to demonstrate its effectiveness.
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