In the continuous path control problem for the robot manipulators, singularities occur for some configurations because of robot mechanism, external physical limitations or nonlinear relation between joint space and Cartesian space.
For the nonredundant manipulators, there is no ability to avoid singularities after achieving the given task to track the desired path.
In this paper, near a singularity of nonredundant robot manipulator a kinematic control method to avoid singularity is presented with minimum sacrifice of preplanned position and orientation accuracy of the end effector.
Also simulations and experiments for the proposed singularity avoidance algorithm are conducted to verify validities of the method for the XR-Ⅱ Rhino robot with linear slide base.
