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

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.