The trajectory planning in task workspace that can occur singularities during a space free-float-ing manipulator operating is investigated.Based on the analysis and proof of the factors influencing the singularities,three profound characteristics and one measurement are presented,and then a smooth trajec-tory planning algorithm is designed by the robust pseudo-converse method.According to the SVD ap-proach,the mechanism of the robust pseudo-converse method is presented,and the tracking errors in joint workspace and task workspace are estimated while avoiding singularities.On this basis,an improved ro-bust pseudo-converse method for singularity avoidance is developed,which further reduces tracking errors.Numerical simulation results validate the correctness of theorical analysis and effectiveness of the proposed trajectory planning methods.
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