A new kinematic algorithm for the control of mechanisms is described that produces smoother and more accurate control near kinematic singularities than the usual damped least-squares method. The new method predicts the occurence of singularities, evaluates the singular terms of the inverse kinematic function us ing a nonsingular expression, and smoothly interpolates between the singular and nonsingular forms. The desingularized expres sion makes use of the rates of change of the singular vectors and values of the Jacobian matrix; formulas for these derivatives are presented. Simulations of the control of two- and six-joint serial manipulators moving through and near singular configurations are given to illustrate the method.
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