Singularity analysis and handling towards mobile manipulation

Abstract

This thesis covers identification of singular configurations and singular directions, singularity handling methods and industrial application of the algorithms in mobile manipulation. In the identification process, a more complete solution than the conventional method is introduced. In handling of singularity, two methods were introduced. The first one is with division of workspace where near singular configurations, a different control algorithm that is singularity robust is applied. The problem of discontinuity as the control is switched is also addressed. The second method introduces a uniform algorithm throughout with no division in workspace. The singularity robust algorithm is implemented in an industrial task where a torque control manipulator is integrated with a velocity controlled mobile platform. The algorithm successfully performed singularity robust unified force and motion control in polishing an unknown surface of an aircraft canopy.