1A1-B07 Singularity-Consistent Vibration Suppression Control of a Redundant Manipulator Mounted on a Flexible Base

Abstract

This paper describes an experimental system for teleoperation of a redundant manipulator mounted on a flexible base. Kinematic redundancy is resolved with the help of an additional constraint, obtained from vibrational dynamics. The problem of kinematic and algorithmic singularities is addressed via the Singularity-Consistent method developed in our previous research. Experimental data show vibration suppression with high efficiency. When no vibrations are present, our approach ensures effectively reactionless motion within a relatively large workspace. The efficiency while moving through an algorithmic singularity is also demonstrated.