Singularity-Consistent Torque Control of a Redundant Flexible-Base Manipulator

A path tracking controlmethod for a kinematically redundant manipulator on a flexible base is proposed. The method is based on dynamic redundancy resolution through a vibration suppression constraint. It is shown that the end-effector path can pass via an algorithmic singularity without destabilizing the system. Simulation data from a planar system is presented, confirming that stable path tracking can be achieved within large portions of the manipulator workspace.