Impedance Control Method for Avoiding Singularities and Preserving Manipulation Performance

Abstract

This paper proposes an impedance control method that is capable of avoiding kinematic singularities and preserving manipulation performance simultaneously. Specifically, this paper designs a virtual repulsive force and moment for avoiding the singularities without degradation of manipulation performance around the equilibrium pose. First, how to design the repulsive force and moment is presented. Then, the effectiveness of the proposed method is verified through a simulation.