The invention relates to the technical field of mechanical arm control, and discloses an approximation damping reciprocal function feature solving method and
system for singular point avoidance. The solving method is applied to mechanical arm
control equipment, and specifically comprises the following steps that S101, the geometrical configuration and joint parameters of a mechanical arm are obtained, a complete
kinematics model frame is established, a
forward kinematics equation is established through a Denavit-Hartenberg parameter method, the mapping relation between the
pose of an end
effector and joint variables is determined, and the
pose of the end
effector is determined; deriving a speed level Jacobian matrix of the mapping relation by adopting a
differential transformation method; s102, performing algebraic analysis and
decomposition on the obtained Jacobian matrix, identifying key algebraic factors causing matrix singularity, and establishing corresponding singularity factor libraries for different mechanical arm configurations; according to the adaptive damping reciprocal function constructed based on the composite exponential function, the
numerical stability in a singular point neighborhood is ensured by optimizing parameter combination, and the problem of joint velocity kick caused by damping
mutation is thoroughly eliminated.