Redundant Manipulator Control with Singularity Avoidance Using Linear Matrix Inequalities

Abstract

This paper proposes a linear matrix inequality (LMI) approach for redundant manipulator control with singularity avoidance. The singularity avoidance problem with input constraints is formulated by a set of LMIs. Thus, the proposed method provides appropriate control signals for singularity robust resolution, although classical approaches may generate large amplitude signals, rapidly changing signals or slowly decaying signals.