Multi-criteria kinematics control for the PA10-7C robot arm with robust singularities

In this paper, kinematics control with multiple criteria and robust singularities for the PA10-7C robot arm is presented. Kinematics control is of critical importance when the robot arm is used for practical applications, because it gives solutions for the robot arm when given either joint angles or end-effector´s position and orientation. In this paper, the solution to inverse kinematics is given first, which can realize weighted least squares and facilitate the fusion of multiple criteria. Singular value decomposition is used in the paper to analyze singularities´ robustness of the proposed approach. A closed-loop kinematics control scheme was designed to decrease the effect of integration drifting. Finally, simulation results further verify efficiency and feasibility of the proposed approach.