Redundant motions of non-redundant robots a new approach to singularity treatment

This paper presents a novel approach to singularity treatment of non-redundant robots. In particular it tries to yield a complete solution to the singularity problem. Based on the symbolic deduction of the inverse Jacobian a necessary condition is derived to discriminate between executable and non-executable motions. In this context the redundant motions in a singular robot configuration are examined and illustrated. The robot can move out of the singular configuration without any position or orientation error. Two strategies are derived to move through the singular configuration. The results although general-are verified using the six axis ROTEX robot, the first remotely controlled space robot.