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Paper ThP201.3

Cheah, C. C. (Nanyang Technological University), LI, Xiang (Nanyang Technological University)

Singularity-Robust Task-Space Tracking Control of Robot

Scheduled for presentation during the Regular Sessions "Motion Control of Manipulators" (ThP201), Thursday, May 12, 2011, 15:55−16:10, Room 3B

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on August 19, 2019

Keywords Motion Control of Manipulators, Robust/Adaptive Control of Robotic Systems

Abstract

Singularity issue has been a long standing problem in task-space control of robot. It is commonly assumed in the theoretical analysis of task-space control system that the robot is operating in a finite task space such that singularity problem can be avoided. This limits the potential workspace of the robot when task-space control is employed. In this paper, a singularity-robust task-space controller is proposed for tracking control of robot manipulator. The proposed controller consists of a joint-space controller that is activated when the robot is near singular configurations, and a task-space controller that is used when the robot leaves the singular region. Therefore, the robot can start from the singular regions and transit smoothly from joint space to task space. It can also enter the singular region during the course of movement. The stability of the closed-loop system is analyzed with consideration of the singularity issue of the Jacobian matrix. The proposed singularity-robust controller was implemented on an industrial robot and experimental results were presented to illustrate the performance of the proposed controller.

 

 

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