Due to the loss of freedom, the stability and tracking ability of the manipulator around the singularity become worse. This article aims at improving the accuracy of the manipulator and ensuring the stability of the system with the damped reciprocal method. Firstly, the singularities are separated into forearm and wrist singularities to obtain the singular factors of the manipulator respectively. Secondly, a new mathematical function of the approximate damped reciprocal of the singular factor is proposed. Thirdly, the singularities are avoided by modifying the Jacobian matrixes of the manipulator with the approximate damped reciprocal algorithm. Finally, the effectiveness and the stability of the system are proved by the simulations on a manipulator with the spherical wrist. The simulation results prove that this method can largely improve the accuracy of the end-effector and can ensure the stability of the system around the singular region.

由于失去自由，机械手在奇异点附近的稳定性和跟踪能力会变差。本文旨在通过阻尼互易方法提高机械手的精度并确保系统的稳定性。首先，将奇异点分为前臂奇异点和腕部奇异点，分别获得操纵器的奇异因子。其次，提出了奇异因子近似阻尼倒数的新数学函数。第三，通过用近似阻尼倒数算法修改操纵器的雅可比矩阵来避免奇异性。最后，通过在球形手腕上的机械手的仿真证明了该系统的有效性和稳定性。