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How to work around Jacobian Manipulator singular Matrix
I have a robot and I'm trying to convert a desired linear end effector velocity to a corresponding representation as Joint Speeds.
I'm having the arm being controlled by a controller and as the user moves the joysticks it will give a value between (-1 to 1) that is scaled by a maximum speed of .1m/s.
However whenever I try and calculate the determinant of my jacobian matrix It's approximately 0 and I get a singularity. At least that's what I believe is causing my problem. I think it's due to the nature of what I want to do since I'm constantly receiving values form a controller those values change by a slight amount and this small difference makes it so I can't invert the Jacobian.
Is there a way to work around this issue?
Here is my code
def JaaaaKobe(self, J, V):
#J: Joint position values in radians
#V: desired linear velocity of end effector
J = J *(180/np.pi) #converted to degrees
q0 = J
q1 = J
q2 = J
q3 = J
q4 = J
q5 = J
sin = np.