Cartesian singularity-avoiding path planning for free-floating space robot

Owing to the dynamic singularity, the joint velocity could be infinite or could be not calculate, when the planned Cartesian path of a free-floating space robot. A singularity avoid path planning algorithm based on the singular value decomposition was proposed. The algorithm changes the factor λ from constant to a dynamic variable damping factor changed with the determinant of generalized Jacobian matrix. The continuity and stableness of the joint velocity curve was guaranteed while the space manipulator passing by the system singularity point. And an example was presented for verifying the validity of the proposed algorithm. The results show that this algorithm does not include the errors at nonsingular area, and the inherited error is decreased about 15% compared to the method of traditional damped least-square.