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Algorithmic singularities avoidance in task-priority based controller for redundant manipulators

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4 Author(s)
G. Marani ; Autonomous Syst. Lab., Hawaii Univ., Honolulu, HI, USA ; Jinhyun Kim ; Junku Yuh ; Wan Kyun Chung

In this paper we describe an online solution for avoiding the occurrence of both algorithmic and kinematic singularities in task-priority based kinematic controllers of robotic manipulators. The proposed approach uses a secondary task correction and a successive task projection in order to maintain the measure of manipulability of the correspondent space augmentation approach over a minimum value. It shows a gain in performance and a better task error especially when working in proximity of singular configurations. It is particularly suitable for autonomous systems where an offline trajectory control scheme is often not applicable.

Published in:

Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on  (Volume:4 )

Date of Conference:

27-31 Oct. 2003