A new approach to avoid singularities of 6-DOF industrial robot

Singularity is a fundamental problem with robot manipulators, and limits its capability to complete its task. In this paper, a “singularity separation plus exponential damped reciprocal” method is presented and its implementation issues is discussed. The singularity factor is separated from the inverse Jacobian matrix, and modified with the exponential damped reciprocal. Therefore, it doesn´t require the singular value decomposition (SVD) and the estimate of minimum singular value in real-time, the computational amount is less, in addition, it´s easy to implement. However, the accuracy of the end-effector velocity components in only partial directions is sacrificed in order to achieve feasibility. In the end, some simulation results are given to demonstrate the effectiveness and feasibility of this method.