Cui, Hong-Xin; Feng, Ke; Li, Huan-Liang; Han, Jin-Hua - In: Industrial Robot: An International Journal 44 (2017) 3, pp. 324-332
to propose a singularity avoidance algorithm named “singularity separation plus improved Gaussian distribution damped … factors are separated based on kinematics calculation. Singularity avoidance is achieved by replacing the common reciprocal …
