Abstract

Damped least-squares acceleration control is a well-known algorithm for robotic control that is intended to be robust in the presence of singularities. When applied to a redundant mechanism, this algorithm can perform poorly in the vicinity of kinematic singularities. In this paper small, short-duration accelerations in the nullspace of the Jacobian of the mechanism are used to improve the performance of the controller. These improvements are verified in simulations of a simple three-link planar arm moving near and through singular postures.

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