Tracking Trajectories with a Robotic Manipulator with Singularities
This research presents a trajectory control for non-redundant serial-link manipulators that is valid for trajectories with ordinary singularities of codimension one and non-ordinary singularities of any codimension. Firstly, it is presented a unified view of tracking algorithms for trajectories with ordinary singularities. Afterwards, several singularity classifications are indicated and illustrated. Then, it is developed a procedure to solve the indeterminate motion of non-ordinary singularities, which is applied to several cases. Finally, the proposed trajectory control is presented and simulated for the 2R manipulator case.
KeywordsSingularity classification adjoint Jacobian trajectory control
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