Cartesian trajectory tracking near singularities for a redundant robot

الملخص EN

Tracking Control of a redundant robot is developed in this paper.

The case studied concerns the tracking of Cartesian trajectory near singularities of 3 DOF planar robot deduced front the PUMA 560 robot.

ln order to achieve the avoidance of singularities without affecting the trajectory tracking, the self-motion is used.

This self-motion is based on the optimization of an analytic function (criteria) according to the manipulator Jacobian.

Three criteria, based respectively on the manipulability measure, the minors and trace of Jacobian, are treated.

The controls incorporating self motion deduced from these three criteria are implemented for the 3 DOF planar robot.

Carried out tests involve the tracking trajectory in Cartesian space near a singular point.

Obtained results show that the three criteria ensure the robot control near the singularity and the most powerful criteria is the manipulability measure.