김진현 정완균 최영진 2024-01-21T06:12:38Z 2024-01-21T06:12:38Z 2021-09-06 2004-10 1976-5622 https://pubs.kist.re.kr/handle/201004/137173 There are several types of singularities in controlling robotic manipulators: kinematic singularity, algorithmic singularity, semi-kinematic singularity, semi-algorithmic singularity, and representation singularity. The kinematic and algorithmic singularities have been investigated intensively because they are not predictable or difficult to avoid. The problem with these singularities is an unnecessary performance reduction in non-singular region and the difficulty in performance tuning. In this paper, we propose a method of avoiding kinematic and algorithmic singularities by applying a task reconstruction approach while maximizing the task performance by calculating singularity measures. The proposed method is implemented by removing the component approaching the singularity calculated by using singularity measure in real time. The outstanding feature of the proposed task reconstruction method (TR-method) is that it is based on a local task reconstruction as opposed to the local joint reconstruction of many other approaches. And, this method has dynamic task priority assignment feature which ensures the system stability under singular regions owing to the change of task priority. The TR-method enables us to increase the task controller gain to improve the task performance whereas this increase can destabilize the system for the conventional algorithms in real experiments. In addition, the physical meaning of tuning parameters is very straightforward. Hence, we can maximize task performance even near the singular region while simultaneously obtaining the singularity-free motion. The advantage of the proposed method is experimentally tested by using the 7-dof spatial manipulator, and the result shows that the new method improves the performance several times over the existing algorithms. 제어·로봇·시스템학회 로봇 매니퓰레이터의 실시간 특이점 회피를 위한 작업 재구성법: 동적 작업 우선도에 기초한 해석 Task Reconstruction Method for Real-Time Singularity Avoidance for Robotic Manipulators : Dynamic Task Priority Based Analysis Article 2 제어.로봇.시스템학회 논문지, v.10, no.10, pp.855 - 868 제어.로봇.시스템학회 논문지 10 10 855 868 kci ART001115728 task reconstruction kinematic singularity algorithmic singularity singularity avoidance dynamic task priority redundant manipulator. task reconstruction kinematic singularity algorithmic singularity singularity avoidance dynamic task priority redundant manipulator.