A study on singularity avoidance and robust control of redundant robot

摘要

Up to the present, a number of performance indices have been proposed for measure of dexterity of manipulators. There are many problems connected to the physical and mathematical meanings of these measures. In this paper, a new performance index considering aspect maintenance, computational burden, representation of an identical unit without regard to the robot and the effectiveness of the algorithm is proposed. This performance index is called the reduced minor index. Inverse kinematics is indispensable to robot control. The singularity-robust inverse is used and it offers a feasible motion close to the desired trajectory even at or in the neighborhood of singular points. Control of the redundant robot utilizing the upper reduced minor index and singularity-robust inverse is applied to the a 4 DOF wire-driven robot. The effectiveness of the proposed control algorithm is illustrated with simulation and experiment results.