An Experimental Study of Resolved Acceleration Control of Robots at Singularities: Damped Least-Squares Approach

[+] Author and Article Information
M. Kirćanski, D. Leković, M. Vukobratović

Mihailo Pupin Institute, Belgrade

N. Kirćanski

Department of Mechanical Engineering, University of Toronto, Toronto, Canada M5S 3G8

J. Dyn. Sys., Meas., Control 119(1), 97-101 (Mar 01, 1997) (5 pages) doi:10.1115/1.2801224 History: Received June 01, 1994; Online December 03, 2007


Most of the robot task space control methods based on inverse Jacobian matrix suffer from instability in singular regions of workspace. Methods based on damped least-squares algorithm (DLS) for matrix inversion have been developed but not experimentally confirmed. The application of DLS method at the kinematic control level has been reported in (Chiaverini et al., 1994). In this article, a modified DLS method combined with the resolved-acceleration control scheme, is experimentally verified on two degrees of freedom of a PUMA-560 robot. In order to decrease the position error introduced by the damping, only small singular values are damped, in contrast to the conventional damping method were all the singular values are damped. The symbolic expressions of the singular value decomposition of the Jacobian matrix were used, to decrease the computational burden.

Copyright © 1997 by The American Society of Mechanical Engineers
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