Redundancy resolution of a 7 DOF haptic interface considering collision and singularity avoidance

This paper presents a new redundancy resolution approach based on the gradient projection method, which allows to avoid man-machine and machine-machine collisions as well as singularities of a redundant haptic interface. On this account cost functions for singularity and collision avoidance are formulated. Hereby the collision avoidance cost function is derived from a kinematic analysis of the human arm. Appropriate weighting factors are used to guarantee a simultaneous optimization of all defined side criteria. The performance of the presented method is analyzed by simulation.