Singular Path Smooth Tracking Algorithm for Robot Manipulators

In recent years, serial manipulator is playing an increasingly important role in aerospace, automobile and other manufacturing fields. In this paper, the singularity configuration of a six-degrees of freedom (six-DOF) serial manipulator is studied. This paper proposes a method of identifying singular posture based on the condition number of Jacobi matrix. We proved the relationship between singularity and condition number of the Jacobi matrix. This method is capable for identifying whether a motion path of robot manipulator passes near the singular points. Based on the condition number, this paper proposes an algorithm for path tracking through singular points. The simulation results demonstrate that this method is effective in identifying whether the motion path passes near singular points, and accurately tracing the motion path through singular points.