Cui, Hong-Xin; Feng, Ke; Li, Huan-Liang; Han, Jin-Hua - In: Industrial Robot: An International Journal 44 (2017) 3, pp. 324-332
Purpose 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”. Design/methodology/approach The...