General inverse kinematics with the error damped pseudoinverse

Accurate and efficient inverse kinematics transformations are required to accurately specify the Cartesian position and orientation of robotic manipulators. A novel algorithm is proposed which is accurate near singular points and is also stable at singular points and for targets which are out of the manipulator's reach. The algorithm uses the error-damped pseudoinverse to obtain stable joint corrections near singularities. Various strategies are presented to describe and handle the particular situations which arise near singularities.>