On the Singularities of Optimality Constraint-based Resolved Motion Methods for a Redundant Manipulator

여유 자유도 매니퓰레이터를 위한 지적 제한 조건을 기반으로 한 Resolved Motion 방법의 특이점에 관한 연구

Algorithmic or kinematic singularities are inevitably a introduced if optimality criteria or augmented kinematic equations are used to resolve the redundancy of almost any manipulator with rotary joints. In this paper, a sufficient condition for a singularity-free optimal solution of the kinematic control of a redundant manipulator is derived and, specifically, algorithmic singularities are analyzed for optimality-based methods. A singularity-free space (SFS) to characterize the performance of a secondary task for a redundant manipulator using the sufficient condition for a redundant manipulator is defined. The SFS is a set of regions classified by the loci of configurations satisfying the inflection condition for manipulability measure in the Configuration space. Using SFS, the topological property of the Configuration space and the invertible workspace without singularities are analyzed.