Yun, Alchan Ha, Junhyoung 2024-01-19T15:02:27Z 2024-01-19T15:02:27Z 2022-01-10 2021-04 1861-2776 https://pubs.kist.re.kr/handle/201004/117174 For safe operation of cooperative robots, we propose a real-time collision avoidance algorithm that is robust to kinematic singularities of serial robots. The main idea behind the algorithms is to generate control inputs that increase the directional manipulability of a robot along the object direction by reducing directional safety measures. While existing directional safety measures show undesirable behaviors in the vicinity of the kinematic singularities of the robot, the proposed geometric safety measure, which is a distance on the space of positive semi-definite matrices with rank one, robustly generates control input that drives the robot to safer posture, even at the kinematic singularities. By adding the control input from the geometric safety measure to the conventional repulsive input for collision avoidance, a hierarchical collision avoidance algorithm that is robust to kinematic singularity is implemented. The proposed method is demonstrated and validated with a set of numerical experiments that consist of manipulability tracking and collision avoidance examples for a serial manipulator. English SPRINGER HEIDELBERG ROBOTS A geometric tracking of rank-1 manipulability for singularity-robust collision avoidance Article 10.1007/s11370-021-00351-0 1 INTELLIGENT SERVICE ROBOTICS, v.14, no.2, pp.271 - 284 INTELLIGENT SERVICE ROBOTICS 14 2 271 284 scie scopus 000617420600002 2-s2.0-85101043301 Robotics Robotics Article ROBOTS Robot safety Manipulability tracking Collision avoidance