• DocumentCode
    2772626
  • Title

    Singularity analysis of 6DOF Stäubli© TX40 robot

  • Author

    Vaezi, Masoud ; Jazeh, Hesam Eddin Shoori ; Samavati, Farzad Cheraghpour ; Moosavian, S. Ali A

  • Author_Institution
    Dept. of Mech. Eng., K.N. Toosi Univ. of Technol., Tehran, Iran
  • fYear
    2011
  • fDate
    7-10 Aug. 2011
  • Firstpage
    446
  • Lastpage
    451
  • Abstract
    This paper presents a solution to study on singularity of a 6DOF robot, Stäubli© TX40 in details and all the corresponding singular directions in task space are clearly identified. To an easy approach to derive singularities, the paper clarifies the total procedure. To do this, kinematic equations are provided. Then jacobian matrix is obtained from kinematic equations. When a manipulator is approaching a singular configuration, a certain degree of freedom will be lost such that there are no feasible solutions of the manipulator to move into this singular direction. It is of high importance to consider singularity conditions to avoid this.
  • Keywords
    Jacobian matrices; manipulator kinematics; 6DOF Stäubli TX40 robot; Jacobian matrix; kinematic equation; manipulator; singularity analysis; Equations; Jacobian matrices; Joints; Kinematics; Manipulators; Wrist; Degenerate Direction; Jacobian Matrix; Robot Manipulator; Singularity; kinematic;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Mechatronics and Automation (ICMA), 2011 International Conference on
  • Conference_Location
    Beijing
  • ISSN
    2152-7431
  • Print_ISBN
    978-1-4244-8113-2
  • Type

    conf

  • DOI
    10.1109/ICMA.2011.5985699
  • Filename
    5985699
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=2772626