A kind of high-precision singularity prediction method for manipulator based on adaptive damped least-squares

Manipulator is often impacted by singularity caused by joint configuration in execution process of precise tasks. Traditional singularity analysis method mainly depends on analytical modeling and geometric analysis, but both adaptability and real-time performance are restricted in dynamic changing environment or under complex joint configurations. Therefore, a kind of high-precision singularity prediction method for manipulator based on adaptive damped least-squares is proposed in this thesis. First, a kind of rotary wedge–type manipulator model suitable for the alignment of high-precision optical components is designed and established, and its positive kinematic solution is derived. Later, the adaptive damped least-squares is introduced to achieve its inverse kinematics solution. Tracking accuracy and singularity avoidance capability are effectively balanced via adaptive mechanism to effectively control the motion of manipulator under the singular configuration. Finally, singularity prediction ability of the method proposed on the specific trajectory of manipulator is verified via simulation and experiment. The results indicate that such method can effectively and accurately identify and forewarn potential singular interval, thus optimizing the path planning of manipulator. Such research provides a kind of new technical approach for the singularity analysis and avoidance of manipulator with complex configuration in dynamic environment, which significantly enhances the motion stability and environmental adaptability of the robot in high-precision operation tasks.