Singularity-robust decoupled control of dual-elbow manipulators

Dimitrios M. Emiris, Vassilios D. Tourassis

Research output: Contribution to journalArticlepeer-review


The ability of a robot manipulator to move inside its workspace is inhibited by the presence of joint limits and obstacles and by the existence of singular positions in the configuration space of the manipulator. Several kinematic control strategies have been proposed to ameliorate these problems and to control the motion of the manipulator inside its workspace. The common base of these strategies is the manipulability measure which has been used to: (i) avoid singularities at the task-planning level; and (ii) to develop a singularity-robust inverse Jacobian matrix for continuous kinematic control. In this paper, a singularity-robust resolved-rate control strategy is presented for decoupled robot geometries and implemented for the dual-elbow manipulator. The proposed approach exploits the decoupled geometry of the dual-elbow manipulator to control independently the shoulder and the arm subsystems, for any desired end-effector motion, thus incurring a significantly lower computational cost compared to existing schemes.

Original languageEnglish
Pages (from-to)225-243
Number of pages19
JournalJournal of Intelligent & Robotic Systems
Issue number2
Publication statusPublished - Oct 1 1993


  • Dual-elbow manipulators
  • decoupled geometries
  • robot kinematics
  • robot singularities

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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