AVOIDING SINGULARITIES OF MANIPULATORS WITH THE METHOD OF MOTION COORDINATIONAL CONTROL

Many methods to avoid singularities have been developed, but there are many defects while working with them.A new method of the motion-coordinational control is given out in this paper. It makesfull use of the character of uncertainty configuration,and can avoid to exceed the speed limit and motion errorof end-effector. I think that the method of motion-coordinational control is a good method for avoiding singularities of arbitrary six degree-of-freedom manipulators.