Question about singular pose

[zxfever]

When using this QP library to solve the inverse kinematics for a 7-DOF robotic arm, how should one address the avoidance of singular configurations—such as the fully extended arm posture?

It appears that the "constraints" option does not contain any relevant settings for this purpose.

Does the solver objective function include any specific components designed to handle the singular configuration?

[Gregwar]

Hello,

Currently, what would be the closer to that would be to maximize manipulability as a sub task: https://placo.readthedocs.io/en/latest/kinematics/regularization.html#manipulability-regularization

Avoiding singular poses could be formulated with inequality constraints on manipulability for example, but I'm afraid that could lead to poses where the solver is "stuck", because manipulability is highly non-linear and certainly non-convex in shape. Could be interested to try though 🙂

Hope this helps