Singularity Low-Sensitive Motion Resolution of Articulated Robot Arms

In this paper, singularity problem of articulated robot arms is discussed. The existence of singular points is an inherent problem in controlling articulated robot arms. The conventional motion resolution method using inverse matrices is not applicable at singular points. To make matters worse, in the neighbourhood of singular points, the closer a robot arm approaches singular points, the more the movement of joint angles is required for a given movement of the robot hand. It causes large errors in the motion of the robot hand because of the saturation of driving torques of joints.Singularity low-sensitive motion resolving matrix is defined, which improves the motion of robot arms in the neighbourhood of singular points. This motion resolution method is applicable to all types of articulated robot arms whether redundant type or non-redundant type.