**SC approach**

We proposed two approaches to singularity treatment: one is based on a null space notation, and the other on an adjoint Jacobian. We call these approaches as the singularity-consistent approach. Both methods guarantee the direction of motion in the whole work space, without producing an infeasible joint velocity. The performance has been experimentally verified with a 6-DOF manipulator. We also apply the method to a redundant 7-DOF manipulator. The experimental results show that the 7-DOF manipulator can be operated safely with feasible joint velocity and without any error in the direction of motion.

Fig. 1 PA-10

References

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