Singularity Configuration Pass Algorithm of Manipulator Based on PVT Trajectory Planning

In order to satisfy the requirement that Cartesian space trajectory planning requires high real-time calculation of inverse kinematics of the manipulator, the analytical solution method is used to calculate the inverse kinematics of the tandem manipulator. According to the judgment conditions in the process of obtaining the analytical solution, three kinds of singular configuration situations that the manipulator may encounter in the process of obtaining the inverse solution are determined. For the singular configuration, a manipulator singularity based on PVT trajectory planning is proposed. The configuration passes the algorithm, so that the robot arm can maintain the continuity and stability of the motion of the robot arm when passing through the singular configuration. Finally, the algorithm was verified from two aspects of theory and experimental data simulation, and the result analysis showed that the algorithm was correct and feasible. This method has good adaptability to traditional industrial six-axis manipulators, cooperative six-axis manipulators and redundant seven-degree-of-freedom manipulators.