NASA NTRS · 19930000100
Configuration-Control Scheme Copes With Singularities
Abstract
Improved configuration-control scheme for robotic manipulator having redundant degrees of freedom suppresses large joint velocities near singularities, at expense of small trajectory errors. Provides means to enforce order of priority of tasks assigned to robot. Basic concept of configuration control of redundant robot described in "Increasing The Dexterity Of Redundant Robots" (NPO-17801).
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Seraji, Homayoun, Colbaugh, Richard D.. 1993-02-01. Configuration-Control Scheme Copes With Singularities. https://ntrs.nasa.gov/citations/19930000100
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