J-PARSE: Jacobian-based Projection Algorithm for Resolving Singularities Effectively in Inverse Kinematic Control of Serial Manipulators

arXiv:2505.00306v5 Announce Type: replace Abstract: J-PARSE is an algorithm for smooth first-order inverse kinematic control of a serial manipulator near kinematic singularities. The commanded end-effector velocity is interpreted component-wise, according to the available mobility in each dimension of the task space. First, a substitute "Safety" Jacobian matrix is created, keeping the aspect ratio of the manipulability ellipsoid above a threshold value. The desired motion is then projected onto non-singular and singular directions, and the latter projection scaled down by a factor informed by the threshold value. A right-inverse of the non-singular Safety Jacobian is applied to the modified command. In the absence of joint limits and collisions, this ensures safe transition into and out of low-rank configurations, guaranteeing asymptotic stability for reaching target poses within the workspace, and stability for those outside. Velocity control with J-PARSE is benchmarked against approaches from the literature, and shows high accuracy in reaching and leaving singular target poses. By expanding the available workspace of manipulators, the algorithm finds applications in teleoperation, servoing, and learning. Videos and code are available at https://jparse-manip.github.io/.

Related

• COSMIK-MPPI: Scaling Constrained Model Predictive Control to Collision Avoidance in Close-Proximity Dynamic Human Environments
• Goal-Conditioned Neural ODEs with Guaranteed Safety and Stability for Learning-Based All-Pairs Motion Planning
• Safe Human-to-Humanoid Motion Imitation Using Control Barrier Functions
• Deep QP Safety Filter: Model-free Learning for Reachability-based Safety Filter
• Capability-Aware Heterogeneous Control Barrier Functions for Decentralized Multi-Robot Safe Navigation

Source: arXiv cs.RO | 2026-04-21