Regularization of the differential inverse orientation problem of serial revolute joint manipulators

Singular configurations arise in the kinematics of revolute joint manipulators, and complicates the solution of the inverse kinematics problem or detoriates motion planning. Singularities arise when solving inverse positioning and inverse orientation as well. In this work the differential inverse orientation problem is transformed into an inverse positioning in a plane, and a one-dimensional inverse orientation problem. The transformed problem is regularized in singular configurations, thus the inverse orientation problem becomes well-conditioned in every configuration. The methodology is illustrated on an Euler wrist.