RESOLVING REDUNDANCY THROUGH A WEIGHTED DAMPED LEAST-SQUARES SOLUTION

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.