A damped least-squares solution to redundancy resolution

Singularity robust redundancy resolution with task priority can be implemented using the extended Jacobian technique with weighted damped least-squares. The resulting scheme is simple to implement and involves less computation than the task priority scheme. The minimum singular value of the Jacobian can be estimated reliably and accurately with little computation, and this estimate was used to calculate an appropriate damping factor. A constant damping factor was also used with good results. The scheme was successfully implemented in a simulation study with a seven-joint manipulator with a kinematic design derived from the PUMA geometry