Channel Algorithm of Transversal Passing Through Singularities for Non-Redundant Robot Manipulators

Abstract

This paper introduces a channel algorithm of transversal passing through singularities for nonredundant manipulators. Approaching a singular configuration is monitored by examining singular values of the Ja.cobian matrix of the manipulator which attain their zero values at singularities. The algorithm forces to smoothly change singular values of the Jacobian matrix. It results in continuous joint coordinates without jerks and extensive errors in tracking a desired path in a task space. An apparent advantage of the channel algorithm is its simplicity and utilization of a basic Newton algorithm only. The introduced with examples including macro manipulator. algorithm is illustrated motions of the PUMA