Hybrid-damped resolved-acceleration control for manipulators

Abstract

The singularity problem of the resolved-acceleration control scheme can be solved by the damped least-squares method. This approach, however, does suffer from one serious drawback: oscillations of the end-effector when the target is outside the workspace and self-motion of the manipulator when it is at the orientation degeneracy. In this paper, we present a hybrid-damped resolved-acceleration control scheme (HDRAC), which is capable of damping both the accelerations and the velocities to overcome this drawback. The main advantage of the present approach is that the control system need not plan the path to avoid the infeasible region of the manipulator, since the controller will automatically command the end-effector to move along the boundary of the workspace with a minimum trajectory error. Thus this approach renders the resolved-acceleration control scheme a much more practical control for the industry. The stability of the proposed control scheme is also proved in this paper. Incorporated with the concept of the degenerated-direction damped least-squares method (DDDLSM), this new control scheme can also apply only to the degenerated directions, which scheme is simulated on the PUMA 560 manipulator to verify its usefulness. (C) 1997 John Wiley & Sons, Inc.