The study on algorithm for avoiding dynamics singularities of space robot

Due to the dynamics coupling characteristics of space robot, it is inevitable to appear the phenomenon of dynamic singularity in the process of solving inverse kinematics, therefore, it is significant to carry out the research of avoiding dynamic singularity aiming at specific space robots. In this paper, on the basis of the space robot kinematics model, the dynamics singularity of space robot is transformed into kinematics singularity of fixed-based robot by approximate linearization method. Subsequently, the kinematics singularity of fixed-based robot is analyzed through partitioning a complicated 6-D Jacobian matrix into two 3-D Jacobian matrixes. Then, the quadratic programming algorithm for avoiding singularity is put forward. Finally, the practicability and validity of the singularity algorithm is verified by simulation experiments.