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 non-redundant manipulators. An approach to a singular configuration is monitored by examining singular values of the Jacobian 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 algorithm introduced is illustrated with examples including macro motions of the PUMA manipulator.