Design Of Singularity-Robust And Task-Priority Primitive Controllers For Cooperative Manipulation Using Dual Quaternion Representation

This paper revises and extends the problem of robust singularity and joint limits avoidance to the cooperative task-space using unit dual quaternion framework-ensuring singularity-free coupled representation of the cooperative space. The research is paramount to cooperative control applications within flexible manufacturing systems and poorly structured environments where robustness and reactiveness play a significant role. Singularity-robust techniques are proposed to control cooperative task primitives while dynamically avoiding kinematic singularities for redundant and non-redundant cooperative task trajectories. A task self-motion, which uses the nullspace of the cooperative task, is also exploited to avoid joint limits or singularities and to define task-priority controllers. Simulated and experimental results illustrate the effectiveness of the proposed singularity-robust and task-priority primitive controllers and the usefulness of singularity-robust solutions and joint limits avoidance in the cooperative task-space.