Jr. Sagli et al., RESOLVING REDUNDANCY THROUGH A WEIGHTED DAMPED LEAST-SQUARES SOLUTION, Modeling, identification and control, 14(2), 1993, pp. 107-119
Singularity robust redundancy resolution with task priority can be imp
lemented using the extended Jacobian technique with weighted damped le
ast-squares. The resulting scheme is simple to implement and involves
less computation than the task priority scheme. The minimum singular v
alue of the Jacobian can be estimated reliably and accurately with lit
tle computation, and this estimate was used to calculate an appropriat
e damping factor. A constant damping factor was also used with good re
sults. The scheme was successfully implemented in a simulation study w
ith a seven-joint manipulator with a kinematic design derived from the
PUMA geometry.