Solving the singularity problem of non-redundant manipulators byconstraint optimization

摘要

A solution to the singularity problem of a non-redundant robot isproposed by reformulating the inverse kinematic problem as a constraintoptimization problem. The main idea is to allow a cartesian error in agiven subspace in the vicinity of a singularity and to minimize thiserror subject to operational constraints such as maximum motor speeds.As a result, in every sampling instant a series of linear least squaresproblems with linear equality and inequality constraints have to besolved. This task can be carried out on a Pentium processor within a fewmilliseconds. The new method is demonstrated by real experiments with anindustrial robot