Singularity robust manipulator control using virtual joints

A singularity handling method is proposed in this paper. It is done by introducing virtual redundant joints into the Jacobian matrix to maintain the rank of the Jacobian matrix when singularity occurs. These additional joints do not exist physically. Therefore, although mathematically stable, the ma...

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Bibliographic Details
Main Authors: Oetomo, D., Ang, M.H., Tao Ming Lim
Format: Conference Proceeding
Language:English
Subjects:
Force control
Jacobian matrices
Manipulators
Mechanical engineering
Performance analysis
Robots
Robust control
Testing
Velocity control
Wrist
Online Access:Request full text
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Summary:A singularity handling method is proposed in this paper. It is done by introducing virtual redundant joints into the Jacobian matrix to maintain the rank of the Jacobian matrix when singularity occurs. These additional joints do not exist physically. Therefore, although mathematically stable, the manipulator still cannot perform tasks in the degenerate direction(s). This method is comparatively straight forward to implement and it does not have a singular subspace defined within which a special and different control algorithm is performed, thus it avoids the problem associated with discontinuous control or switching of control. The method was tested on simulation and implemented in real-time on the PUMA 560 robot.
ISSN:1050-4729
DOI:10.1109/ROBOT.2002.1013594