Solving the singularity problem of non-redundant manipulators by constraint optimization

G. Schreiber, M. Otter, G. Hirzinger
<i title="IEEE"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/dmucnarmarh2fj6syg5jyqs7ny" style="color: black;">Proceedings 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human and Environment Friendly Robots with High Intelligence and Emotional Quotients (Cat. No.99CH36289)</a> </i> &nbsp;
A solution to the singularity problem of a non-redundant robot is proposed by reformulating the inverse kinematic problem as a constraint optimization problem. The main idea is to allow a cartesian error in a certain subspace in the vicinity of a singuarity and to minimize this error subject to operational constraints such as maximum motor speeds. As a result, in every sampling instant a series of linear least squares problems with linear equality and inequality constraints have to be solved.
more &raquo; ... is task can be carried out on a Pentium processor within a few milliseconds. The new method is demonstrated at hand of some experiments with an industrial robot.
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