Singularity avoidance of 6R decoupled manipulator using improved Gaussian distribution damped reciprocal algorithm

To improve the trajectory tracking accuracy of 6R decoupled manipulator in singularity region, this paper aims to propose a singularity avoidance algorithm named “singularity separation plus improved Gaussian distribution damped reciprocal”.

The manipulator is divided into forearm and wrist, and the corresponding singularity factors are separated based on kinematics calculation. Singularity avoidance is achieved by replacing the common reciprocal with the improved Gaussian distribution damped reciprocal.

Compared with common damped reciprocal algorithm and classical Gaussian distribution algorithm, the continuity of the proposed algorithm is improved and the tracking error is minimized. The simulation and experiment results prove effectiveness and practicability of the proposed algorithm.

This study has an important significance to improve the efficiency and operation accuracy of 6R decoupled manipulator.