Control of robotic systems through singularities

Abstract

The goal of this work is to provide an overview of major control techniques that manage the occurrence of singularities for robotic systems. The common feature of these methods is a modification of the inverse differential kinematic mapping which is ill-conditioned in the neighbourhood of a singularity. The following solutions are discussed; namely, the Jacobian transpose, the Jacobian pseudoinverse, and the damped least-squares Jacobian inverse.