Trajectory Tracking with a 6R Serial Industrial Robot with Ordinary and Non-ordinary Singularities

This work presents a trajectory control for non-redundant serial-link manipulators that is valid for trajectories with ordinary singularities of codimension one and non-ordinary singularities of any codimension. For this purpose, several singularity classifications are considered and a procedure is developed in order to solve the indeterminate motion of non-ordinary singularities. The proposed trajectory control is validated by simulation and by experiments with the six-revolute (6R) industrial robot KUKA KR 15/2.