A Riemannian metric for geometry-aware singularity avoidance by articulated robots

Filip Maric, Luka Petrovic, Marko Guberina, Jonathan Kelly, Ivan Petrovic

Abstract: Highlights•A singularity index based on the geodesic connecting two manipulability ellipsoids.•Geometric interpretations of the proposed index applied to singularity avoidance.•Proof that the proposed index can be differentiated.•An operational space tracking formulation for singularity avoidance.