Singularity Processing Algorithm for Inverse Kinematics of 6-DOF Series Robot

The inverse solution of robot kinematics occupies a very important position in robotics, and it is directly related to robot design, analysis, calibration and control. Aiming at the Jacobian matrix singularity problem in the inverse kinematics of a six-degree-of-freedom series robot, based on the damped least squares method, combined with an inverted Gaussian distribution function, a new continuous damping coefficient adaptive adjustment method is proposed. And this method uses the condition number k as the singularity index. Simulation and experimental results verify the effectiveness of the algorithm, that is, the Jacobian matrix is inversely stable near the singular configuration, and the joints move smoothly.