“Resolving redundancy through a weighted damped least-squares solution”

Authors: Jan R. Sagli, Inge Spangelo and Olav Egeland,
Affiliation: NTNU, Department of Engineering Cybernetics
Reference: 1993, Vol 14, No 2, pp. 107-119.

Keywords: Robotics, redundant degrees of freedom, singularities, weighted damped least squares

Abstract: Singularity robust redundancy resolution with task priority can be implemented using the extended Jacobian technique with weighted damped least-squares. The resulting scheme is simple to implement and involves less computation than the task priority scheme. The minimum singular value of the Jacobian can be estimated reliably and accurately with little computation, and this estimate was used to calculate an appropriate damping factor. A constant damping factor was also used with good results. The scheme was successfully implemented in a simulation study with a seven-joint manipulator with a kinematic design derived from the PUMA geometry.

PDF PDF (1466 Kb)        DOI: 10.4173/mic.1993.2.5

DOI forward links to this article:
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  title={{Resolving redundancy through a weighted damped least-squares solution}},
  author={Sagli, Jan R. and Spangelo, Inge and Egeland, Olav},
  journal={Modeling, Identification and Control},
  publisher={Norwegian Society of Automatic Control}