关键词: 旋量, 冗余, 机械臂, 逆向运动学, 避奇异, 路径规划

Abstract: The singularity avoidance problem of redundant DOF manipulator was studied. A kinematic model of a 7 -DOF manipulator was established based on the screw theory. The singularity of the manipulator was analyzed, and the velocity level inverse kinematics algorithm for singularity avoidance was derived based on the minimum singular value as the singularity optimization index. A path planning experiment for singularity avoidance was conducted based on the velocity
level inverse kinematics algorithm. The experimental results show that the inverse kinematics algorithm has good accuracy, which verifies the effectiveness of the singularity avoidance algorithm and lays the foundation for the motion planning of redundant manipulators.

Key words: screw, redundant, manipulator, inverse kinematics, singularity avoidance, path plan