1P2-Q01 Teleoperation of a 7-DOF Redundant Manipulator Considering Singularities(New Control Theory and Motion Control (2))

Abstract

A redundant manipulator is also uncontrollable at the singularity. In our previous work, the Singularity-Consistent (SC) approach has been applied to both the column-augmented Jacobian and the augmented Jacobian for redundant manipulator to control stably around the singularity. However, these approaches introduce an inner obstacle related to non-redundant motions. Thereupon, the SC approach has been applied pseudoinverse Jacobian. Although the inner obstacle disappears, SC pseudoinverse Jacobian cannot pass/escape the singularity. The operability around the singularity becomes poor. In this paper, we propose a combination of a normalized pseudoinverse Jacobian and the SC augmented Jacobian to achieve proper performance around the singularity.