New solution algorithm for singularity control of serial manipulators

A novel approach to remodel the manipulator kinematics and solve the feasible motions of a six-joint manipulator in the neighborhood of singular configurations is presented in this paper. By using line varieties and reciprocal screw theories, we drop the constraint from the Jacobian matrix yielding a full rank matrix so that the mapping between task space feasible motions and joint space motions becomes uniquely defined. Finally, some simulation results for the PUMA manipulator are given to demonstrate the effectiveness of this method.