Abstract
This paper presents a general strategy for manipulator control at kinematic singularities. The basic idea in this strategy is to treat the manipulator in the neighborhood of singular configurations as a redundant mechanism with respect to the motion of the end-effector in the subspace orthogonal to the singular directions. The control in this subspace is based on operational forces, while null space joint torques are used to deal with the control in the singular directions. The control is based on the dynamically consistent force/torque relationship that guarantees decoupled behavior. Two different types of kinematic singularities have been identified and strategies dealing with these singularities have been developed. Experimental results of the implementation of this approach on a PUMA 560 manipulator are presented.
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© 1994 Springer Science+Business Media Dordrecht
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Chang, KS., Khatib, O. (1994). A Dynamically Consistent Strategy for Manipulator Control at Singularities. In: Lenarčič, J., Ravani, B. (eds) Advances in Robot Kinematics and Computational Geometry. Springer, Dordrecht. https://doi.org/10.1007/978-94-015-8348-0_22
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DOI: https://doi.org/10.1007/978-94-015-8348-0_22
Publisher Name: Springer, Dordrecht
Print ISBN: 978-90-481-4434-1
Online ISBN: 978-94-015-8348-0
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