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MIMO adaptive control with ∊-modification and on-line singularity avoidance method for hyper-redundant robotic arm

In this paper, multi-input multi-output (MIMO) direct adaptive torque controller is presented that uses a conventional fuzzy system with ∊-modification to provide the end-effector tracking of a reference path for a 9-DOF hyper-redundant manipulator. Also, an on-line task modification method (OTMM) is applied to achieve singularity avoidance for the hyper-redundant arm at the velocity level. It is illustrated via simulations that ∊-modification provides an on-line estimation of the unknown system dynamics boundaries for adaptive control and the OTMM avoids the singularity on-line and waives offline singularity avoidance path planning and the effort to check whether the singularity is escapable for the hyper-redundant manipulator.