Abstract
We investigate the singularity for the anthropomorphic robotic arm and develop an algorithm to handle the calculation. It is demonstrated that although the limit characteristics and the interior characteristics of these robotic arms can be distinguished through an examination of their unique properties, it is still not possible to obtain decent kinematic decoupling properties for modern automated arms. In light of this, the methodology of our calculation is changed to deal with these two cases. The control contribution is altered to again allow bending of the robotic arm from the solitary straight stance. The interior singularities are taken into consideration in the calculation to control against invalid spatial movement of the automated arm. By incorporating fuzzy control theorem, we demonstrate that modeling system enables the robotic arm to move within solitary areas and return back to certain locations, so that the usable workspace is expanded. The viability of the proposed calculation method for reproduction and use in ongoing control tests is proven.
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