Singularity robustness: methods for joint-space and task-space control

摘要

Presents methods for the robust handling of the kinematic singularities inherent in all revolute joint manipulators. For joint-space control, the method of damped-least-squares at both the velocity and acceleration levels is revisited and new stability results are presented; for task-space control a new task-space trajectory filter is presented. Simulation results are given for the PUMA 762 robot and the RRC K-1207 redundant arm, and demonstrate that the proposed methods handle singularities successfully.