In this paper, a singularity-robust inverse kinematics is newly suggested by using a Lagrange multiplier for redundant manipulator systems. Two tasks are considered with priority orders under the assumption that a primary task has no singularity. First, an inverse kinematics problem is formulated to be an optimization one subject to an equality constraint, in other words, to be a minimization problem of secondary task error subject to an equality constraint for primary task execution. Second, in the procedure of minimization for a given objective function, a new inverse kinematics algorithm is derived. Third, since nonzero Lagrange multiplier values appear in the neighborhood of a singular configuration of a robotic manipulator, we choose them as a natural choice of the dampening factor to alleviate the ill-conditioning of matrix inversion, ultimately for singularity-robust inverse kinematics. Finally, the effectiveness of the suggested singularity-robust inverse kinematics is shown through a numerical simulation about deburring and conveyance tasks of a dual arm manipulator system.
Skip Nav Destination
e-mail: cyj@hanyang.ac.kr
Article navigation
September 2008
Research Papers
Singularity-Robust Inverse Kinematics Using Lagrange Multiplier for Redundant Manipulators
Youngjin Choi
Youngjin Choi
Division of Electrical Engineering and Computer Science,
e-mail: cyj@hanyang.ac.kr
Hanyang University
, Ansan 426-791, Republic of Korea
Search for other works by this author on:
Youngjin Choi
Division of Electrical Engineering and Computer Science,
Hanyang University
, Ansan 426-791, Republic of Koreae-mail: cyj@hanyang.ac.kr
J. Dyn. Sys., Meas., Control. Sep 2008, 130(5): 051009 (7 pages)
Published Online: August 4, 2008
Article history
Received:
September 28, 2007
Revised:
May 12, 2008
Published:
August 4, 2008
Citation
Choi, Y. (August 4, 2008). "Singularity-Robust Inverse Kinematics Using Lagrange Multiplier for Redundant Manipulators." ASME. J. Dyn. Sys., Meas., Control. September 2008; 130(5): 051009. https://doi.org/10.1115/1.2957632
Download citation file:
Get Email Alerts
Data-Driven Tracking Control of a Cushion Robot With Safe Autonomous Motion Considering Human-Machine Interaction Environment
J. Dyn. Sys., Meas., Control (July 2025)
Dynamic Obstacle Avoidance Strategy for High-Speed Vehicles Via Constrained Model Predictive Control and Improved Artificial Potential Field
J. Dyn. Sys., Meas., Control (July 2025)
An Adaptive Sliding-Mode Observer-Based Fuzzy PI Control Method for Temperature Control of Laser Soldering Process
J. Dyn. Sys., Meas., Control
Related Articles
Kinematic Analysis and Design of Kinematically Redundant Parallel Mechanisms
J. Mech. Des (January,2004)
Repeatable Redundant Manipulator Control Using Nullspace Quasivelocities
J. Dyn. Sys., Meas., Control (May,2010)
Control of Redundant Mechanical Systems Under Equality and Inequality Constraints on Both Input and Constraint Forces
J. Comput. Nonlinear Dynam (July,2011)
Control of Platoons of Nonholonomic Vehicles Using Redundant Manipulator Analogs
J. Dyn. Sys., Meas., Control (March,2006)
Related Proceedings Papers
Related Chapters
Manipulability-Maximizing SMP Scheme
Robot Manipulator Redundancy Resolution
Pseudoinverse Method and Singularities Discussed
Robot Manipulator Redundancy Resolution
Time-Varying Coefficient Aided MM Scheme
Robot Manipulator Redundancy Resolution