Robot Control near Singularity and Joint Limit Using Continuous Task Transition Algorithm

Abstract

As intelligent robots are being developed, the robots are expected to execute many kinds of tasks safely in a human environment so that people interact with the robots without any concerns. However, when robots are controlled in the task space, singularities and joint limits are among the most critical and difficult issues that can arise. In this paper, a new approach for the robots is proposed to operate in regions in which singularities and joint limits can arise. The proposed approach utilizes a continuous task transition algorithm. In these cases, new tasks are defined for dealing with singularities and joint limits, and the tasks are activated or deactivated using a continuous task transition algorithm to guarantee the continuous execution of the tasks during the execution of the main task. The proposed approach is implemented on a 6-DOF manipulator called Roman-MD. The performance of the approach is demonstrated in experiments.