Maximising Manipulability During Resolved-Rate Motion Control

27 Feb 2020Jesse HavilandPeter Corke

Resolved-rate motion control of redundant serial-link manipulators is commonly achieved using the Moore-Penrose pseudoinverse in which the norm of the control input is minimized. However, as kinematic singularities are a significant issue for robotic manipulators, we propose a Manipulability Motion Controller which chooses joint velocities which will also increase the manipulability of the robot... (read more)

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