Kinematic singularity avoidance for robot manipulators using set-based manipulability tasks

Abstract

Abstract-This paper proposes a novel method for kinematic singularity avoidance for robot manipulators. Using set-based singularity avoidance tasks within the singularity-robust multiple task priority framework, avoidance of kinematic singularities is guaranteed without interfering with the convergence of compatible equality tasks. Non-compatible equality tasks will still be fulfilled to the extent possible. In addition, the method can be used to reconfigure the robot into a more dexterous configuration. The proposed method is applicable to both redundant and nonredundant robots, with both fixed base and floating base. The implementation is generic and independent of the type and number of tasks. Although also applicable for non-redundant fixed base robot manipulators, this novel approach is particularly well suited for highly redundant and/or floating base manipulators, since the robot configuration can be changed to improve the dexterity of the manipulator arm. We demonstrate the method by applying it to an underwater swimming manipulator, which is an innovative and highly redundant underwater floating base manipulator. Furthermore, simulation results are presented that illustrate and validate the proposed method.

Tracking control of an articulated intervention AUV in 6DOF using the generalized super-twisting algorithm

“…in the body-fixed frame. The desired velocities, ζ d , are typically given by the inverse kinematics as described in [28]. The desired trajectory,…”

“…Let the control input be given by (26). Then, the closed-loop dynamics is described by (28), and the origin of this cascade system is uniformly globally asymptotically stable (UGAS), which ensures the asymptotic convergence of the tracking error when…”

“…Theorem 2: Consider the closed-loop system in (28). If the following assumptions are satisfied Assumption 1: The AIAUV is neutrally buoyant.…”

Handling robot constraints within a Set-Based Multi-Task Priority Inverse Kinematics Framework

“…Inspired by the work [13], where the set-based multitask priority framework [10] is used to handle, in simulation only, the kinematic singularity of a snake-like robot setting a proper task at two priority level simultaneously, in this work we extend that idea in order to handle several set-based tasks. In addition, we prove its practical efficiency implementing it experimentally on a 7 DOF Jaco 2 anthropomorphic arm.…”

Trajectory Tracking for Underwater Swimming Manipulators using a Super Twisting Algorithm

“…When the USM carries out a manipulation task, the overall motion of the USM and the joint angle velocities can be determined by the desired velocities of the end‐effector, that is, the desired motion of the head of the USM. One approach for this is described in , where the base motion and the joint angle motion of the USM are assigned using a redundancy resolution technique based on inverse kinematics. The outputs of this procedure are time‐varying velocity references for the base and the joints.…”