Singular Configuration Control of Redundant Manipulator

—Wrist singular configuration control—

Abstract

In this paper, we propose a new control scheme of a robot in its singular configurations for human robot coordination referred to as the Singular Configuration Control (SCC). The scheme controls the manipulator in its singular configurations by appropriately selecting a solution of the inverse kinematics according to the manipulator’s configuration so that the manipulator could move even in its singular configurations without stopping the motion. The proposed control algorithm is applied to MR Helper and the experimental results illustrate the validity of the Singular Configuration Control.