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2Nakamura Y, Hannafusa H. Inverse kinematic solutions with singularity robustness for robot manipulator control[J]. ASME Dynam System Measurment control, 1986, 108: 163- 171.
3Mania V K, Mirko D B. Symbolic singular value decomposition for a PUMA robot and its application to a robot operation near slngularlties[J].The International Journal of Robotics Research, 1993, 12(5): 460 -472.
4Chen Y C, Seng J, Nell O. A predicative algorithm for rate control of mechanisms near singularities[J], The International Journal of Robotics Research, 1998, 17(6) : 652-666.
5Cheng F T, Hour T L, Sun Y Y. Study and resolution of singularities for a 6 - DOF PUMA manipulator[J], IEEE Transactions on Systems, Man and Cybernetics , 1997. 27(2) : 165 - 178.
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7Fu KS,Gonsales RC,Lee CSG.Robotics Control Senains Vision and Intelligence[M].Mc Graw-Hill,New York,1987.
8Manocha D,Canny J F.Efficient inverse kinematics for general 6R manipulators[J].IEEE Transactions on Robotics and Automation,1994,10(5):648-657.
