Singularity Avoidance Algorithm Based on Bounded Deviation Path Correction Method

Focused on the abnormal problems of path planning when a custom 6-DOF robot goes passed singular points, this paper makes descriptions based on kinematic analysis and dynamic analysis. It is pointed out that linear interpolation should not be simply abandoned but choose joint motion when singularity problems encounters. Instead, this paper suggests a singularity algorithm to modify the interpolated point sequence in the singular interval after a preliminary path planning of the interpolated point sequences, of which the modification method is called "Bounded Deviation Path Correction Method"(BDPC) in this paper. This algorithm can ensure both the accuracy of the end position and the attitude, and finally realizes the effective and reliable motion planning of the manipulator through the singular interval.