الگوريتم شناسايي مسيرهاي ممكن جهت خروج از حالت تكين روباتها

Occurrence of singularity in robot manipulators complicates control process of the robots. Suitable design of robotʹs trajectories is one of the ways for prevailing over the effects of singularity. In this article a new method for determining feasible trajectories along singular direction that a robot can leave a singular point at the beginning of its trajectory, is presented. On the base of singular value decomposition and mathematical model of singularity, an algorithm is presented for nonredundant robots in singularity with rank deficiency one, to find feasible trajectories along singular direction. Then the results were applied to a six degree of freedom robot and its feasible trajectories are determined.