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Study and validation of singularities for a Fanuc LR Mate 200iC robot

Conference Paper · June 2014

DOI: 10.1109/EIT.2014.6871803

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Study and Validation of Singularities for a Fanuc LR Mate 200iC
Robot
M. S. Abderrahmane1, A. M. Djuric2, W. Chen3, CP Yeh4
Abstract—Path planning and re-planning for serial 6 degree
of freedom (DOF) robotic systems is challenging due to the
complex kinematic structure which reflects in the direct and
inverse kinematic solutions. Industrial robots can move either
in joint space, which use direct kinematic solver or Cartesian
space which use the inverse kinematic solver. The complexity in
robotics comes from the inverse kinematics, when the robot is
moving in the Cartesian space. In that case singularity
conditions can occur.
The singularity regions for the Fanuc LR Mate 200iC robot
have been calculated by finding the determinant of the robot’s
Jacobian matrix. The recursive Newton-Euler method and the
Vector multiplication method are used for the Jacobian matrix
generation and validation. The visual representations of the
singularity regions are done using the MTALAB tools, which
will help process designers to develop valid robot trajectories
and optimal layout designs.
The validation of the results is done by using the Fanuc LR
Mate 200iC robot available in our lab. For each singularity
position the Teach Pendant showed the error and the Robot
couldn’t move.
By visualizing the singularity regions location in advance, the
manufacturing layout design will be faster and more accurate.
I. INTRODUCTION
T The Inverse Kinematic, IK, was the subject to many
researches due to its importance. This solution is the
heart of programming robots. Many times, Jacobian matrix
would be calculated as a means for resolving Singularity.
Most engineers fallow the convention introduced by Denavit
and Hartenberg in their 1955 research [2]. The most majority
of industrial robots take advantage of Pieper’s theory
introduced in [3] back in 1968 which states that if three
successive joints are intersecting, the robot’s inverse
kinematics problem can be solved in a closed-form. A
geometric approach was presented in [4] for solving the
inverse kinematics for a 6 DOF Puma manipulator. In [5],
the author is proposing a technique that will determine
Singularity in motion simplifying the computational
Manuscript submitted on March 15, 2014.
M. S. M. Abderrahmane, Master Student, Engineering Technology,
Wayne State University, 4855 Fourth St., Detroit, MI 48202, U.S.A.
(ff2478@wayne.edu).
Dr. A. M. Djuric, Assistant Professor, Engineering Technology, Wayne
State University, 4855 Fourth St., Detroit, MI 48202, U.S.A.
(ana.djuric2@wayne.edu).
Dr. W. Chen, Assistant Professor, Engineering Technology, Wayne State
University, 4855 Fourth St., Detroit, MI 48202, U.S.A.
(wchenc@wayne.edu).
Dr. CP Yeh, Professor & Head, Engineering Technology, Wayne State
University, 4855 Fourth St., Detroit, MI 48202, U.S.A. (Yeh@wayne.edu).
978-1-4799-4774-4/14/$31.00 ©2014 IEEE
432
procedure to cover all configurations solution. An
identification of the conditions covering all singular
configurations of simple six-link manipulator was presented
in [6]. The kinematic position problems here are supposed to
have closed-form solutions. In [7], authors present an
algorithm that solves the IK for all six DOF, general or
special manipulators. They combined symbolic and
numerical computations. An improved Compact QP method
was presented in [8] to improve a Compact QP that was used
in earlier research which was trying to solve the Redundant
Inverse Kinematic. The workspace was decomposed in order
to decompose the Redundant Inverse Kinematics into two
subproblems. The work space in [9] was also decomposed
into achievable and unachievable after proposing an
approach denoted Singularity Isolation Plus Compact QP
(SICQP). This decomposition of workspace permits
decomposing the inverse singularity to two smaller inverse
kinematics problems, position and orientation kinematic
problems. The decomposition of the inverse kinematics
problem into subproblems was obtained in [10] using the
Product-of Exponentials Formula, POE. The reduction of the
complexity of the inverse kinematics using this method
permits a solution of several but simpler canonical
subproblems. The wrist partitioned 6R robots were
investigated in [11]. It was shown here that all singular
positions are shoulder, elbow, wrist, or any combination
thereof. Wrist Singularity was investigated in [12] which
presents different methods for solving inverse kinematics
when the robot is at or near singularity. The method
comprises factorizing the Jacobian matrix into a product of
several factors, each one of them can be inverted easily. In
the case of wrist-partitioned manipulators in terms of
singular planes, [13] proposes a geometric representation of
the kinematic singularities. It is shown in this research that
determinant of the Jacobian matrix of the manipulator is the
product of the distance metrics, or the distances from the
controlled points on the end-effector to the singular planes.
Puma and Fanuc families were unified in [14] by developing
a Unified Reconfigurable Puma-Fanuc Model. Singularity
conditions were investigated for the unified model, which is
validated in this paper and proved to be correct after
plugging the Fanuc LR Mate 200iC parameters in the UPF
mathematical model, and compared to the results obtained in
this work. A feedback inverse kinematics (FIK) was
proposed in [15] in a new robust and computationally
efficient method. FIK law is operating as a filter and
prevents this way from matrix manipulations. A redundancy-
resolution algorithm was developed in [16] to optimize the
1
 433

joint space trajectory of arc-welding industrial robots of six-
rotation-axis since one DOF of redundancy remains when
performing this task. Another robust method is presented in
[17], but focusing on the discontinuity problem. The author
of [18] introduced the double quaternion based kinematics
formulation for solving the inverse kinematics of the general
6R robots. The inverse kinematics of an ABB IRB-1400 spot
welding with 6 DOF was solved in [19] based on the method
of geometry projection principle. The forward and inverse
kinematics of a KUKA KR-16KS robotic arm in the
application of a simple welding process was investigated in
[20]. The authors of [21] are investigating the inverse
kinematics of 16 industrial 6DOF robots with offset wrist of
closed form equations. They solved theses manipulators
analytically and numerically. In case that the manipulators
cannot be solved in closed form, they proposed an algorithm
to solve the inverse kinematics.
II. REVIEW OF FANUC LR MATE 200IC KINEMATIC MODE
For the Fanuc LR Mate 200iC robot Jacobian matrix
calculation, first we ensure that its kinematic structure is
valid. The kinematic structure and the related D-H
parameters [2] are presented in Figure 1 and Table 1,
respectively [23].
θ4 d4
z3
z5 θ 6
y3 x3
a3
III. CALCULATION OF JACOBIAN MATRIX
The goal of this research is to calculate and validate a
Jacobian matrix and the singularity conditions for the Fanuc
LR Mate 200iC robot. The visualization of the singularity
regions can be utilized in layout designs, and the robot travel
paths optimization.
For robot manipulators, the Jacobian is defined as the
coefficient matrix of any set of equations that relates the
velocity state of the end-effector described in the Cartesian
space to the actuated joint rates in the joint velocity space.
See Equation 1.
X = Jq (1)
For rotational joints the generalized coordinates are
presented expressed in Equation 2.
qi = θi (2)
The end effector velocity is expressed in terms of the linear
velocity of the origin of the end effector coordinate frame,
Vi and the angular velocity of the end effector ωi , and thus
we have:
⎡v ⎤
X = ⎢ i ⎥ (3)
⎣ωi ⎦
The Newton-Euler recursive method was used for
calculation of the end effector linear and angular velocity.
The linear velocity for revolute joints is:
d6 ( vi )=i Ri −1 i −1 (0 vi −1 )+ i ( 0ωi )×i Ri −1 i −1 pi
i 0
(4)
W x6 = n The angular velocity for revolute joints is:

y2 x2 θ5 E
i 0
( ωi )=i Ri −1 [
i −1 i −1 0
( ωi −1 )+ i −1θi ] (5)
z4 y4 The calculated Jacobian matrix J E is with respect to the
y5 x5 z6 = a
θ3 end-effector fame.
y6 = s
a2 x4 For the validation purposes the Jacobian matrix has been
z2
calculated using the Vector Method. See Equation 6.
z1 ⎡J ⎤
a1 JB = ⎢ V ⎥ =
⎣Jω ⎦ (6)
θ2 ⎡ Z 0 × Pn
0 0 0
Z 1 ×( Pn − P1 ) 0
Z 2 ×( Pn − P2 ) ..... 0
Z n −1 ×( Pn − Pn −1 ) ⎤
0 0
⎢ ⎥
⎣⎢ Z 0 Z1 Z2 ..... Z n −1 ⎦⎥
y1 x1 The calculated Jacobian matrix J B is with respect to the base
d1
fame. The J E matrix is found using the Equation 7.
z0 θ1
J B = 0R6 J E (7)
y0
x0
Both solutions are the same which confirms that the
calculated Jacobian matrix for Fanuc LR Mate 200iC robot
Fig. 1. FANUC LR Mate 200iC robot kinematic diagram [24] is correct. The general expression of the J B matrix is:
TABLE I ⎡ B J11 B
J12 B
J13 B
J14 B
J15 0 ⎤
D-H PARAMETER OF THE FANUC LR MATE 200IC ROBOT ⎢B B B B B ⎥
⎢ J 21 J 22 J 23 J 24 J 25 0 ⎥
JOINT di θi ai αi ⎢ BJ
B
B
J 32 B
J 33 B
J 34 B
J 35 0 ⎥ (8)
1 d1 = 330 θ1 = 0D a1 = 75 α1 = −90D J = ⎢ 31 B B B B B
⎥
⎢ 0 J 42 J 43 J 44 J 45 J 46 ⎥
2 0 θ 2 = −90D a2 = 300 α 2 = 180D ⎢ 0
⎢
B
J 52 B
J 53 B
J 54 B
J 55 B
J 56 ⎥⎥
3 0 θ3 = 180D a3 = −75 α 3 = 90D B B B
4 ⎣⎢ 1 0 0 J 64 J 65 J 66 ⎦⎥
d 4 = −320 θ4 = 0D 0 α 4 = −90D
5
These elements are determined in the next set of
0 θ5 = 0D 0 α 5 = 90D equations:
6 d 6 = −80 θ 6 = 180D 0 α 6 = 180D

2
 434

B
J 11 = − sin(θ1 ) a1 − sin(θ1 ) a2 cos(θ 2 ) B
J 34 = sin(θ 4 ) sin(θ 5 ) sin(θ 2 − θ 3 )d 6 (24)
+ d 4 sin(θ1 ) sin(θ 2 − θ 3 ) − a3 sin(θ1 ) cos(θ 2 − θ 3 ) B
J 35 = d 6 cos(θ 2 − θ 3 ) sin(θ 5 )
(9) (25)
− sin(θ1 ) cos(θ 2 − θ 3 ) cos(θ 4 ) sin(θ 5 )d 6 + − d 6 sin(θ 2 − θ 3 ) cos(θ 4 ) cos(θ 5 )
sin(θ1 ) sin(θ 2 − θ 3 ) cos(θ 5 )d 6 + B
J 36 = 0 (26)
sin(θ1 ) cos(θ1 ) sin(θ 4 ) cos(θ 5 )d 6 B
J 41 = 0 (27)
B
J 12 = − cos(θ1 ) sin(θ 2 )a 2 − cos(θ1 ) sin(θ 2 − θ 3 ) a3
− cos(θ1 ) cos(θ 2 − θ 3 ) d 4 − cos(θ1 ) cos(θ 4 ) (10)
B
J 42 = − sin(θ1 ) (28)

sin(θ 5 ) sin(θ 2 − θ 3 ) d 6 − cos(θ1 ) cos(θ 5 ) cos(θ 2 − θ 3 )d 6

B
J 43 = sin(θ1 ) (29)
B
J13 = a3 cos(θ1 ) sin(θ 2 − θ 3 ) + d 4 cos(θ1 ) cos(θ 2 − θ 3 )
B
J 44 = − cos(θ1 ) sin(θ 2 − θ 3 ) (30)
+ cos(θ1 ) cos(θ 4 ) sin(θ 5 ) sin(θ 2 − θ 3 )d 6 + (11) B
J 45 = − cos(θ1 ) sin(θ 4 ) cos(θ 2 − θ 3 ) +
(31)
cos(θ1 ) cos(θ 5 ) cos(θ 2 − θ 3 )d 6 sin(θ1 ) cos(θ 4 )
B
J 14 = − sin(θ 5 ) cos(θ1 ) sin(θ 4 ) cos(θ 2 − θ 3 ) d 6
B
J 46 = cos(θ1 ) cos(θ 4 ) sin(θ 5 ) cos(θ 2 − θ 3 ) −
(12) (32)
+ sin(θ1 ) cos(θ 4 ) sin(θ 5 ) d 6 cos(θ1 ) cos(θ 5 ) sin(θ 2 − θ 3 ) + sin(θ1 ) sin(θ 4 ) sin(θ5 )
B
B
J 15 = d 6 cos(θ1 ) cos(θ 2 − θ 3 ) cos(θ 4 ) cos(θ 5 ) + J 51 = 0 (33)
d 6 cos(θ1 ) sin(θ 2 − θ 3 ) sin(θ 5 ) + (13) B
J 52 = cos(θ1 ) (34)
d 6 sin(θ1 ) sin(θ 4 ) cos(θ 5 ) B
J 53 = − cos(θ1 ) (35)
B
J 16 = 0 (14) B
J 54 = − sin(θ1 ) sin(θ 2 − θ 3 ) (36)
B
J 21 = a1 cos(θ1 ) + a2 cos(θ1 ) cos(θ 2 ) B
J 55 = − sin(θ1 ) sin(θ 4 ) cos(θ 2 − θ 3 ) −
(37)
+ a3 cos(θ1 ) cos(θ 2 − θ 3 ) − d 4 cos(θ1 ) sin(θ 2 − θ 3 ) + (15) cos(θ1 ) cos(θ 4 )
cos(θ1 ) cos(θ 2 − θ 3 ) cos(θ 4 ) sin(θ 5 )d 6 − cos(θ1 ) B
J 56 = sin(θ1 ) cos(θ 4 ) sin(θ 5 ) cos(θ 2 − θ3 ) −
(38)
sin(θ 2 − θ 3 ) cos(θ 5 )d 6 + sin(θ1 ) sin(θ 4 ) sin(θ 5 )d 6 sin(θ1 ) cos(θ5 ) sin(θ 2 − θ3 ) − cos(θ1 ) sin(θ 4 ) sin(θ5 )
B
J 22 = − sin(θ1 ) a 2 sin(θ 2 ) − sin(θ1 ) sin(θ 2 − θ 3 ) a3 B
J 61 = 1 (39)
− sin(θ1 ) cos(θ 2 − θ 3 ) d 4 − sin(θ1 ) cos(θ 4 ) sin(θ 5 ) (16) B
J 62 = 0 (40)
sin(θ 2 − θ 3 ) d 6 − sin(θ1 ) cos(θ 5 ) cos(θ 2 − θ 3 ) d 6 B
J 63 = 0 (41)
B
J 23 = a3 sin(θ1 ) sin(θ 2 − θ 3 ) + d 4 sin(θ1 ) cos(θ 2 − θ 3 )
(17)
B
J 64 = − cos(θ 2 − θ 3 ) (42)
+ sin(θ1 ) cos(θ 4 ) sin(θ 5 ) sin(θ 2 − θ 3 ) d 6
B
J 65 = sin(θ 4 ) sin(θ 2 − θ 3 ) (43)
+ sin(θ1 ) cos(θ 5 ) cos(θ 2 − θ 3 ) d 6
B
J 24 = − d 6 sin(θ 1 ) cos(θ 2 − θ 3 ) sin(θ 4 ) sin(θ 5 )
B
J 66 = − cos(θ 4 ) sin(θ 5 ) sin(θ 2 − θ 3 ) −
(44)
(18) cos(θ 5 ) cos(θ 2 − θ 3 )
− d 6 cos(θ 1 ) cos(θ 4 ) sin(θ 5 )
B
J 25 = d 6 sin(θ1 ) cos(θ 2 − θ 3 ) cos(θ 4 ) cos(θ 5 ) IV. DECOUPLI OF JACOBIAN
+ d 6 sin(θ1 ) sin(θ 2 − θ 3 ) sin(θ 5 ) − (19) Jacobian Matrix was decoupled or partitioned to
d 6 cos(θ1 ) sin(θ 4 ) cos(θ 5 ) simplify the calculation of the determinant in order to define
B Singularity conditions. The Jacobian matrix W J at the wrist
J 26 = 0 (20)
is calculated when d 6 = 0 . Its general form is presented in
B
J 31 = 0 (21) Equation 45.
B
J 32 = − a 2 cos( θ 2 ) − a 3 cos( θ 2 − θ 3 ) + ⎡ W J11 W J12 W J13 0 0 0 ⎤
⎢W W W ⎥
d 4 sin( θ 2 − θ 3 ) − cos(θ 2 − θ 3 ) cos( θ 4 ) sin(θ 5 ) d 6 (22) ⎢ J 21 J 22 J 23 0 0 0 ⎥
⎢W J W
J W
J 0 0 0 ⎥ (45)
+ sin(θ 2 − θ 3 ) cos(θ 5 ) d 6 W
J = ⎢ 31 W 32 W 33 W W W
⎥
⎢ 0 J 42 J 43 J 44 J 45 J 46 ⎥
B
J 33 = a3 cos(θ 2 − θ 3 ) − d 4 sin(θ 2 − θ 3 ) ⎢ 0
⎢
W
J 52 W J 53 W J 54 W J 55 W J 56 ⎥⎥
+ cos(θ 2 − θ 3 ) cos(θ 4 ) sin(θ 5 ) d 6 − (23)
⎢⎣ 1 0 0 W
J 64 W J 65 W J 66 ⎥⎦
sin(θ 2 − θ 3 ) cos(θ 5 ) d 6

3
 435

V. ROBOT SINGULARITY PROBLEM x2

The configuration of 6 × 6 Jacobian matrix is singular if and
only if: Wrist θ 3 = −13.1906 D
x2
det(J ) = 0 (46)
θ 3 = 76 . 804 D z3
Most of the industrial robots with six DOF have 3-DOF
forearm and with a 3-DOF spherical wrist. In order to
simplify the calculation, matrix J can be divided into four y2 y2
x3 x3 Wrist
blocks of 3× 3 matrices. See Equation (47). z3
⎡J J12 ⎤
E
J = ⎢ 11 ⎥ (47)
J
⎣ 21 J 22 ⎦

According to [14], the Jacobian matrix B J can be decoupled

and will have the block triangular form:
⎡J 03×3 ⎤
W
J = ⎢ 11 ⎥ (48) Fig. 2. Configuration of the forearm boundary singularity for FANUC LR
⎣ J 21 J 22 ⎦ Mate 200iC robot

According to [14], the determinant of Jacobian is Similarly we found the boundary singularity located on the
independent of the velocity reference point selected then the y 2 axis as shown in Figure 2. The related Jacobian matrix is
following equation can be written:
given in Equation (57).
det(W J ) = det( E J ) (49)
⎡403.6715 300 0 ⎤
Combining equations (48) and (49) we have: 2
J11 = ⎢⎢ 0 - 328.6715 328.6715⎥⎥ (57)
det(W J ) = det( J11 ) det( J 22 ) (50) ⎢⎣ ⎥⎦
0 0 0
Now, the singularity condition of the Fanuc LR Mate 200iC
robot can be decoupled into two determinants: The forearm interior singularity is presented in Figure 3.
det( J11 ) = 0 and det( J 22 ) = 0 (51)
Wrist
The forearm singularities can be identified by checking the
determinant of the matrix J11 . This produced two conditions,
for forearm singularities. One is for boundary singularities,
equation (52): θ 3 = 34D
x2
Cb = −a3 sin(θ3 ) + d4 cos(θ3 ) = 0 (52) x3
and the other one is for the interior singularities, equation θ 2 = -29.78967 D

(53):
Ci = −a1 − a2 cos(θ2 ) − a3 cos(θ2 −θ3 ) + d4 sin(θ2 −θ3 ) = 0 (53)
The wrist singularities can be identified by checking the x1
determinant of the matrix J 22 . See equation 54.
det(J 22 ) = − sin(θ 5 ) = 0 (54)
D z0
This is true when θ 5 = 0 , or θ5 = 180 , which physically x0
means that joints 4 and 6 are aligned.
Fig. 3. Configuration of the forearm interior singularity for FANUC LR
Mate 200iC robot
VI. FANUC LR MATE 200IC SINGULARITY ANALYSIS
The related Jacobian matrix is shown in Equation (58).
Forearm Singularities:
⎡0 580.578 - 320.222⎤
By solving the Equation (52) for θ 3 using the D-H ⎥
0
J11 = ⎢⎢0 0 0 ⎥ (58)
parameters from Table 1, the boundary singularity is found.
⎢⎣0 75 74.045 ⎥⎦
The joint angle θ 3 = 76.8094 D and by observing the Figure 2
it can be seen that the wrist is located on the x2 axis and we When both boundary and interior singularities occur, θ 2 and
have the following Jacobian matrix: θ3 need to be solved. The angle θ3 is calculated by solving
2 2 0
J11 = J 0 J11 (55) the Equation (52). See Equation (59).
⎛d ⎞
⎡ 0 0 0 ⎤ θ 3 = atan2⎜⎜ 4 ⎟⎟ (59)
2
J11 = ⎢⎢ 0 − 628.671 328.671⎥⎥ (56) ⎝ a3 ⎠
⎢⎣− 75 0 0 ⎥⎦ There are two values for θ3 : 76.8094D or - 103.1906 D .

4
 436

The value for θ 2 is solved by combining Equations 52 and z3

θ4
53 using the following procedure: z5 θ 6
A = K1K 2 (− a2 − a3 cosθ 3 − K 3d 4 sin θ 3 ) (60) y3 Wrist x6 = n
x3
B = K1 (a3 sin θ 3 − K 3 d 4 cosθ 3 ) (61) θ5
y4 z6 = a
z4
C = K1K 2 a1 (62) x5
y5 y6 = s

cos(θ 2 ) =
( )(
2 AC ± 4 A2C 2 − 4 A2 + B 2 C 2 − B 2 ) x4

(
2 A2 + B 2 ) (63) Fig. 6. Configuration of the Wrist singularity for FANUC LR Mate 200iC
robot
θ 2 = atan2(cosθ 2 , sin θ 2 ) (64) The robot home zero position, which is presented in Figure 1
D
The joint angle is calculated: θ 2 = 9 0 . The robot is moved to and the same in Figure 6, is singular because z3 is parallel to
the calculated singular position. See Figure 4. z5 . The associated Jacobian matrix is given in Equation 66.

y2 θ 3 = 180 D + 76 .804 D ⎡− 1 0 − 1⎤
D
θ 2 = − 90 + 90 D
0
J 22 = ⎢⎢ 0 − 1 0 ⎥⎥ (66)
⎢⎣ 0 0 0 ⎥⎦
x1 x2 Wrist
y1 x3
VII. EXPERIMENTAL VALIDATION OF FANUC LR MATE
200IC SINGULARITY
The experimental validation of the singularity regions has
been done using the Fanuc LR Mate 200iC robot available in
Fig. 4. Configuration of the forearm boundary and interior singularity for
the robotic lab at the Engineering Technology Division,
FANUC LR Mate 200iC robot Wayne State University.
Using the Matlab tools, the complete forearm singularity The state of both boundary and interior singularities, whose
(boundary and interior singularities) is visualized. See position is shown in Figure 3, is reached with Fanuc LR
Figure 5. The methodology used to visualize the singularity Mate 200iC robot and the same position and the Teach
space is adopted from [24]. Pendent values are shown in Figure 7.
The TP show an error: Closed to singularity.
(θ 1 )min = − 170 D (θ 1 )max = 170 D

Fig. 5. Visualization of the forearm boundary and interior singularity for Fig. 7. Experimental validation of the forearm boundary and interior
FANUC LR Mate 200iC robot singularity for FANUC LR Mate 200iC robot
The singularity space is calculated using the Joint limits The same procedure is done to validate the wrist singularity.
determined by Fanuc manufacturer. See Figure 8.
By substituting θ 2 = 90D and θ3 = 76.8094D into the J11 Joints 4 and 6 are
aligned because Joint 5
matrix, the following result is obtained: is almost zero.
⎡ 0 0 0 ⎤
0 ⎢
J11 = ⎢703.671 0 0 ⎥⎥ (65)
⎢⎣ 0 − 628.671 328.671⎥⎦
The TP show an error:
It is clear from Equation 65 that robot is in the singular Closed to singularity.
position.
Wrist Singularities:
The wrist singularity is determined in Equation 54. The Joint 5 is almost zero.
graphical representation of the wrist singular condition is
given in Figure 6. Fig. 8. Experimental validation of the wrist singularity for FANUC LR
Mate 200iC robot

5

VIII. CONCLUSIONS AND FUTURE WORK
This paper provides a detail calculation of the Jacobian
matrix, singularity analysis and experimental validation of
the results for the Fanuc LR Mate 200iC robot. The Jacobian
matrix is calculated using Newton-Euler recursive method
and Vector multiplication method for validation purposes.
By solving the determinant of the Jacobian at the wrist
position, three singularity conditions are found. They are
forearm boundary and interior singularity and wrist
singularity. All results are graphically and analytically
shown and experimentally proved. The visual
representations of the singularity regions are done using the
MTALAB tools, which will help process designers to
develop valid robot trajectories and optimal layout designs.
By visualizing the singularity regions location in advance,
the manufacturing layout design will be faster and more
accurate.
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IX. NOMENCLATURE
i −1
Ai - Homogeneous matrices
di - Link offset along previous z to the common normal
θ i - Joint angle about z, from old x to new x
a i - Link length of the common normal
αi - Twist angle about common normal, from old z axis to new z axis
q i - Generalized coordinates
qi - The actuated joint rates
Cb - Boundary singularity Condition
Ci - Interior singularity Condition
J ij -Jacobian matrix elements, raw i and column j
J11 -Forearm Jacobian expressed at the wrist
J 22 -Wrist Jacobian expressed at the wrist
J V - Jacobian related to linear velocity
Jω - Jacobian related to angular velocity
J B -Jacobian expressed at the base
J E -Jacobian expressed at the end effector
JW -Jacobian expressed at the wrist.
X - The end effector velocity
vi -The end-effector linear velocity
ωi - The end-effector angular velocity
i 0
( vi ) - Linear velocity for revolute joints
i 0
( ωi ) - Linear velocity for revolute joints