Singularity-robust task-priority redundancy resolution for real-time kinematic control of robot manipulators

TLDR

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.

Abstract

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.