一种六自由度机械手奇异回避算法

针对传统机械手奇异回避算法存在的计算量大、实时性差的问题，提出了基于“奇异分离+指数级阻尼倒数”的奇异回避算法。首先，在对机械手运动学建模分析的基础上，通过Jacobian矩阵计算将导致奇异的参数分离出来；然后，介绍了指数级阻尼倒数算法的原理，并对采用指数级阻尼倒数进行奇异回避导致的误差进行了研究。仿真与实验结果表明，该算法可实现关节角速度在奇异域的平稳光滑过渡，且仅牺牲了机械臂末端在部分方向上的精度，由此算法的有效性和实用性得到验证。

A Novel Avoid Singularity Algorithm for 6-DOF Manipulators

Aiming at the problems of the heavier calculation burden and worse real-time of traditional singularity avoidance algorithms, a novel approach (named “singularity separation plus exponential order damped reciprocal” algorithm) was proposed for 6-DOF manipulators. Firstly, the singularity configurations were analyzed and the singularity parameters were separated based on the kinematics calculation. Then, the principle of exponential order damped reciprocal algorithm was introduced and error coefficient caused by the exponential order damped reciprocal algorithm was analyzed. The simulation and experimental results show that the proposed algorithm may achieve smooth transition of joint angular velocities and only part velocities accuracy of the end-effector are sacrificed, the effectiveness and practicability of the proposed algorithm are proved.