Аннотация
The damped least-squares method has frequently been used to solve
the singularity problem of resolved-acceleration control schemes.
It works by damping only the joint accelerations, so that the joint
accelerations in the degenerated directions (the end-effector cannot
move along these directions) are zero at a singular point. However,
the joint velocities in the degenerated directions may be nonzero
in some situations, in which case they will create fluctuations around
the singular point. In this paper, a damped-rate resolved-acceleration
control scheme (DRRAC) is proposed to overcome this drawback. The
paper also shows that the DRRAC is asymptotically stable, and its
convergent property is discussed. Experiments were undertaken to
verify the proposed control scheme. Copyright (C) 1997 Elsevier Science
Ltd.
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