Practical application of the task-priority redundancy resolution technique must deal with the occurrence of kinematic and algorithmic singularities. The aim of this paper is twofold. First, the application of existing singularity-robust methods to the case of kinematically redundant arms is studied. Then, a new task-priority redundancy resolution technique is developed that overcomes the effects of algorithmic singularities. Computational aspects of the solutions are also considered in view of real-time implementation of a kinematic control algorithm. The method is applied to a seven-degree-of-freedom manipulator in numerical case studies to demonstrate its effectiveness.
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