Study and resolution of singularities for a 6-DOF puma manipulator

Fan Tien Cheng, Tzung Liang Hour, Tsing Hua Chen, York Yin Sun, Fan Chu Kung

Research output: Contribution to journalConference article

3 Citations (Scopus)


In this paper, the singularities of a 6-DOF PUMA manipulator are analyzed in detail and all the corresponding singular directions in task space are clearly identified. In order to resolve this singularity problem, an approach denoted Singularity Isolation plus Compact QP (SICQP) method is proposed. The SICQP method decomposes the work space into achievable and unachievable (i.e., singular) directions. Then, the exactness in the singular directions are released such that extra redundancy is provided to the achievable directions. Finally, the Compact QP method is applied to maintain the exactness in the achievable directions, and to minimize the tracking errors in the singular directions under the condition that feasible joint solutions must be obtained. In the end, simulation results for PUMA manipulator are given to demonstrate the effectiveness of the SICQP method.

Original languageEnglish
Pages (from-to)4410-4415
Number of pages6
JournalProceedings of the IEEE International Conference on Systems, Man and Cybernetics
Publication statusPublished - 1995 Dec 1
EventProceedings of the 1995 IEEE International Conference on Systems, Man and Cybernetics. Part 2 (of 5) - Vancouver, BC, Can
Duration: 1995 Oct 221995 Oct 25

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Hardware and Architecture

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