A solution to the singular inverse kinematic problem for a planar manipulation robot mounted on a track

Using the normal form approach we have solved the singular inverse kinematic problem for the ASEA IRb-6 manipulator mounted on a track. It is established that in a neighbourhood of singular configurations the kinematics of this manipulator assume the hyperbolic normal form. Equivalence transformations of the kinematics into the normal form are found. A normal-form based inversion algorithm of singular kinematics is presented. This algorithm is illustrated with computer simulations that reveal excellent quality of the normal form solution. Although the approach has been illustrated on an exemplary robot it applies to a general manipulation robot mounted on a track. Copyright (C) 1998 IFAC.