Task Space Control of Articulated Robot Near Kinematic Singularity: Forward Dynamics Approach

In this study, a forward dynamics-based control (FDC) framework is proposed for task space control of a nonredundant robot manipulator. The FDC framework utilizes forward dynamic robot simulation and an impedance controller to solve the inverse kinematics problem. For the practical use of the proposed control framework, the accuracy, robustness, and stability of robot motion are considered. Taking...