Torque Optimizing Control with Singularity-Robustness for Kinematically Redundant Robots

Authors:
C. Y. Chung;B. H. Lee;M. S. Kim;C. W. Lee
Affiliations:
School of Electrical Engineering, Seoul National University, Shillim-dong, Kwanak-ku, Seoul 151-742, Korea;School of Electrical Engineering, Seoul National University, Shillim-dong, Kwanak-ku, Seoul 151-742, Korea/ e-mail: bhlee@asri.snu.ac.kr;Human Robot Research Center, Korea Institute of Science and Technology, Seoul 135-081, Korea;Human Robot Research Center, Korea Institute of Science and Technology, Seoul 135-081, Korea
Venue:
Journal of Intelligent and Robotic Systems
Year:
2000

Citing 5
Cited 4

Manipulator inverse kinematic solutions based on vector formulations and damped least-squares methods

IEEE Transactions on Systems, Man and Cybernetics
Task-priority based redundancy control of robot manipulators

International Journal of Robotics Research
Global versus local optimization in redundancy resolution of robotic manipulators

International Journal of Robotics Research
A theory of generalized inverses applied to robotics

International Journal of Robotics Research
Robot Dynamics and Control

Robot Dynamics and Control

Planning load-effective dynamic motions of highly articulated human model for generic tasks

Robotica
Inverse Dynamic Model and a Control Application of a Novel 6-DOF Hybrid Kinematics Manipulator

Journal of Intelligent and Robotic Systems
Obstacle avoidance of redundant manipulators using neural networks based reinforcement learning

Robotics and Computer-Integrated Manufacturing
Different-Level Simultaneous Minimization of Joint-Velocity and Joint-Torque for Redundant Robot Manipulators

Journal of Intelligent and Robotic Systems

Quantified Score

Hi-index	0.00

Visualization

Abstract

A new control method for kinematically redundant manipulators having the properties of torque-optimality and singularity-robustness is developed. A dynamic control equation, an equation of joint torques that should be satisfied to get the desired dynamic behavior of the end-effector, is formulated using the feedback linearization theory. The optimal control law is determined by locally optimizing an appropriate norm of joint torques using the weighted generalized inverses of the manipulator Jacobian-inertia product. In addition, the optimal control law is augmented with fictitious joint damping forces to stabilize the uncontrolled dynamics acting in the null-space of the Jacobian-inertia product. This paper also presents a new method for the robust handling of robot kinematic singularities in the context of joint torque optimization. Control of the end-effector motions in the neighborhood of a singular configuration is based on the use of the damped least-squares inverse of the Jacobian-inertia product. A damping factor as a function of the generalized dynamic manipulability measure is introduced to reduce the end-effector acceleration error caused by the damping. The proposed control method is applied to the numerical model of SNU-ERC 3-DOF planar direct-drive manipulator.