Thats a unique idea.You should consider the following idea to enhance your idea so that it would impact uniquely: A Cartesian control law usually requires the inversion of the Jacobian matrix. In singular configurations, motions along particular directions (degenerate directions) seem to be infeasible. , the constraints that the reference trajectory must satisfy to be correctly tracked are studied for different types of singularities. For an external singularity, no constraint exists on the path, so a motion along a degenerate direction is possible. For an internal singularity the constraints on the trajectory are stronger, so the tangent to the path at the singular point can not be arbitrary. Then, a method is proposed for computing the control input to obtain a perfect tracking of a given reference trajectory satisfying the constraints described above. >
['Christine Chevallereau', 'Bassam Daya']
I am writing a research paper on a idea A new method for robot control in singular configurations with motion in any Cartesian direction
[{"from": "human", "value": "I am writing a research paper on a idea A new method for robot control in singular configurations with motion in any Cartesian direction"}, {"from": "gpt", "value": "Thats a unique idea.You should consider the following idea to enhance your idea so that it would impact uniquely: A Cartesian control law usually requires the inversion of the Jacobian matrix. In singular configurations, motions along particular directions (degenerate directions) seem to be infeasible. , the constraints that the reference trajectory must satisfy to be correctly tracked are studied for different types of singularities. For an external singularity, no constraint exists on the path, so a motion along a degenerate direction is possible. For an internal singularity the constraints on the trajectory are stronger, so the tangent to the path at the singular point can not be arbitrary. Then, a method is proposed for computing the control input to obtain a perfect tracking of a given reference trajectory satisfying the constraints described above. >"}]