Singularity Handling on Puma in Operational Space Formulation

  • Denny Oetomo
  • Marcelo AngJr.
  • Ser Yong Lim
Conference paper
Part of the Lecture Notes in Control and Information Sciences book series (LNCIS, volume 271)


A solution to the singularity problem is presented from the approach of the operational space formulation which involves both motion and force control. A brief summary of the Operational Space Formulation and how singularity presents a problem is explained. The inverse of the Jacobian at singular configuration is handled by removing the degenerate components of the motion, therefore manipulator is made redundant to the task. Khatib’s [3] dynamically consistent inverse was then used to invert the Jacobian and to create a null space motion to escape from the singular configuration in the case that the desired path lies in the degenerate direction. The algorithm was implemented on the PUMA 560 manipulator, and the results are presented.


Jacobian Matrix Null Space Joint Torque Orientation Error Feasible Path 
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Copyright information

© Springer-Verlag Berlin Heidelberg 2001

Authors and Affiliations

  • Denny Oetomo
    • 1
  • Marcelo AngJr.
    • 1
  • Ser Yong Lim
    • 2
  1. 1.National University of SingaporeSingapore
  2. 2.Gintic Institute of Manufacturing TechnologySingapore

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