This paper presents another extension of our previous analyses on the soft docking of adaptive space structures based on the artificial potential method. Because of a critical condition on a path taken by an end-effector a robot manipulator becomes sometimes incapable of moving the effector toward certain directions. In such a case the generalized Jacobian matrix which relates the motion of the end-effector to that of manipulator's joints becomes singular. Hence, introducing a measure based on the generalized Jacobian matrix, we propose a control loaw for avoiding the singular and demonstrate the effectiveness of the proposed approach.
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