Analysis and treatment of singularity for a tomato harvesting manipulator

To solve singularity problems, singular values of Jacobian matrix and the manipulability of a tomato harvesting manipulator were analyzed. The damped least-square method was applied to treat singularity and simulation was made in the motion. The results indicated that the minimum singular values calculated by the damped pseudo-inverse matrix of the manipulator were far from zero position when singular configurations were treated. Moreover, Velocities and positions of all the joints of the manipulator varied regularly and smoothly. Singular configurations were disappeared and the manipulator met the motion requirements for tomato harvesting.