On this basis, the conditions of robot singularity occurrence are determined and the robot avoiding the singularity is achieved by using quadratic programming.
将六维的雅可比矩阵分割成两个三维雅可比矩阵。在此基础上，确定了机器人发生奇异的条件；
On this basis, the conditions of robot singularity occurrence are determined and the robot avoiding the singularity is achieved by using quadratic programming.
将六维的雅可比矩阵分割成两个三维雅可比矩阵。在此基础上，确定了机器人发生奇异的条件；
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