Geometric Jacobians Derivation and Kinematic Singularity Analysis for 6-DOF robotic manipulator
Main Article Content
Abstract
This article investigates the kinematic singularities and geometric Jacobians of a 6-DOF robotic manipulator, incorporating a prismatic joint, from the perspective of singularity theory. The study begins by deriving the forward kinematics using the Denavit-Hartenberg (D-H) convention and examines the Jacobian matrices to identify configurations where the Jacobian matrix becomes rank-deficient, signaling the presence of kinematic singularities. These singularities pose critical challenges, such as restricting end-effector mobility and leading to infinite solutions in inverse kinematics. The determinant of the Jacobian matrix is employed to detect singular configurations, and the implications for motion control and trajectory planning are discussed. Through a detailed analysis and MATLAB simulations, the article highlights the importance of singularity avoidance and provides a deeper understanding of the manipulator's kinematic behavior. The findings emphasize the need for strategic design and motion planning to ensure optimal performance and stability in robotic manipulation tasks.
Downloads
Article Details
COPYRIGHT
Submission of a manuscript implies: that the work described has not been published before, that it is not under consideration for publication elsewhere; that if and when the manuscript is accepted for publication, the authors agree to automatic transfer of the copyright to the publisher.
Authors who publish with this journal agree to the following terms:
- Authors retain copyright and grant the journal right of first publication with the work simultaneously licensed under a Creative Commons Attribution License that allows others to share the work with an acknowledgment of the work's authorship and initial publication in this journal.
- Authors are able to enter into separate, additional contractual arrangements for the non-exclusive distribution of the journal's published version of the work (e.g., post it to an institutional repository or publish it in a book), with an acknowledgment of its initial publication in this journal.
- Authors are permitted and encouraged to post their work online (e.g., in institutional repositories or on their website) prior to and during the submission process, as it can lead to productive exchanges, as well as earlier and greater citation of published work
- The journal allows the author(s) to retain publishing rights without restrictions.
- The journal allows the author(s) to hold the copyright without restrictions.