Singularity-Consistent vibration suppression control with a redundant manipulator mounted on a flexible base

This paper describes an experimental system for teleoperation of a redundant manipulator mounted on a flexible base. Kinematic redundancy is resolved with the help of an additional constraint, obtained from vibration dynamics. The problem of kinematic and algorithmic singularities is addressed via the Singularity-Consistent method developed in our previous research. Experimental data shows vibration suppression with high efficiency. When no vibrations are present, our approach ensures effectively reactionless motion. The stability of the system under teleoperation and while moving around algorithmic and kinematic singularities is also demonstrated.