Identification Algorithm to Determine the Trajectory of Robots with Singularities

Abstract

Singularity in robot controls is an important problem. By identifying an appropriate trajectory for the robots, the singular situations can be avoided. In this paper an identification algorithm is proposed to control the robot such that it can change its direction to avoid the singularity situation. Base on the singular value decomposition, the proposed algorithm is developed for the non-redundant, single-rank robots. The proposed method is employed on a robot with six degrees of freedom, in order to identify its feasible trajectory. Keywords: Singularity; Trajectory identification; Robot control; Identification algorithm; Singular value decomposition.