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- Title
A singularity handling algorithm based on operational space control for sixdegree-of-freedom anthropomorphic manipulators.
- Authors
Zhi-Hao Kang; Ching-An Cheng; Han-Pang Huang
- Abstract
In this article, we analyze the singularities of six-degree-of-freedom anthropomorphic manipulators and design a singularity handling algorithm that can smoothly go through singular regions. We show that the boundary singularity and the internal singularity points of six-degree-of-freedom anthropomorphic manipulators can be identified through a singularity analysis, although they do not possess the nice kinematic decoupling property as six-degree-of-freedom industrial manipulators. Based on this discovery, our algorithm adopts a switching strategy to handle these two cases. For boundary singularities, the algorithm modifies the control input to fold the manipulator back from the singular straight posture. For internal singularities, the algorithm controls the manipulator with null space motion. We show that this strategy allows a manipulator to move within singular regions and back to non-singular regions, so the usable workspace is increased compared with conventional approaches. The proposed algorithm is validated in simulations and real-time control experiments.
- Subjects
ALGORITHMS; INDUSTRIAL property; SPACE
- Publication
International Journal of Advanced Robotic Systems, 2019, Vol 16, Issue 3, p1
- ISSN
1729-8806
- Publication type
Article
- DOI
10.1177/1729881419858910