A real-time strategy for the management of kinematic singularities: New progresses

Abstract

Industrial processes which use robotic manipulators are progressively asking for the generation of real-time trajectories in order to quickly react to unpredictable events. However, trajectories generated in real-time may violate the kinematic constraints of the system and, therefore, may be unfeasible. Several online methods have been recently proposed for the constraint management. They particularly care about situations in which non-redundant manipulators pass close to kinematic singularities, which represent a critical problem for trajectories planned in the operational space: singular configurations are, in fact, the most difficult to be managed because the available reaction time is always short. In this work, one recently proposed real-time algorithm for the singularity management will be revised to improve its performance.