특이 영역에서의 여유 자유도 로보트의 기구학적 제어 방법

A Kinematic Control Method for Redundant Robots in Singular Regions

It is well-known that the redundancy can be exploited to avoid the singular regions of the redundant manipulators by increasing the manipulability. The method, however, requires excessive energy and gives rather large tracking errors since the manipulability is increased rapidly so that the manipulator avoids the singular region quickly. In this paper, a new method is proposed in which the increasing speed of the manipulability is confined to a certain bound. Therefore, in the proposed method, the movement energy and the tracking errors are reduced. The computer simulation studies are performed to show the validity of the method.