General inverse kinematics with the error damped pseudoinverse

Accurate and efficient inverse kinematics transformations are required to accurately specify the Cartesian position and orientation of robotic manipulators. A novel algorithm is proposed which is accurate near singular points and is also stable at singular points and for targets which are out of the manipulator´s reach. The algorithm uses the error-damped pseudoinverse to obtain stable joint corrections near singularities. Various strategies are presented to describe and handle the particular situations which arise near singularities