Bordered matrix for singularity robust inverse kinematics: a methodological aspect

In this article we propose a methodology to smoothly control manipulators when passing through singular configurations. Properties of bordered matrix and their inverse are discussed by means of their ability to properly condition the Jacobian of the system and insure smoothness in the velocity and/or acceleration profile. The efficiency of the algorithm is comparable to that of the singular robust inverse when the singular value decomposition is used Simulation results are discussed at the end of the article.