Singularity-robust task-priority redundancy resolution for real-time kinematic control of robot manipulators

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.