Singularity analysis of 6DOF Stäubli© TX40 robot

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.

[1]  Shih-Liang Wang,et al.  A Study of the Singular Configurations of Serial Manipulators , 1987 .

[2]  W. W. Schrader,et al.  Efficient Computation of the Jacobian for Robot Manipulators , 1984 .

[3]  B. E. Eckbo,et al.  Appendix , 1826, Epilepsy Research.

[4]  Clément Gosselin,et al.  Singularity analysis and representation of planar parallel manipulators , 1992, Robotics Auton. Syst..

[5]  Tarek M. Abdel-Rahman,et al.  A Generalized Practical Method for Analytic Solution of the Constrained Inverse Kinematics Problem of Redundant Manipulators , 1991, Int. J. Robotics Res..

[6]  Kenneth H. Hunt,et al.  Special Configurations of Multi-finger Multi- freedom Grippers — A Kinematic Study , 1991, Int. J. Robotics Res..

[7]  Mark W. Spong,et al.  Robot dynamics and control , 1989 .

[8]  Daniel C. H. Yang,et al.  A New Method for the Singularity Analysis of Simple Six-link Manipulators , 1986 .

[9]  Clément Gosselin,et al.  Singularity analysis of closed-loop kinematic chains , 1990, IEEE Trans. Robotics Autom..

[10]  Jean-Pierre Merlet,et al.  Singular Configurations of Parallel Manipulators and Grassmann Geometry , 1988, Int. J. Robotics Res..

[11]  S. Ali A. Moosavian,et al.  Dynamic modeling and kinematic simulation of Stäubli© TX40 robot using MATLAB/ADAMS co-simulation , 2011, 2011 IEEE International Conference on Mechatronics.

[12]  Boris Mayer St-Onge,et al.  Singularity Analysis and Representation of Spatial Six-Dof Parallel Manipulators , 1996 .

[13]  Jean-Pierre Merlet,et al.  Parallel manipulators. Part 2 : Theory. Singular configurations and Grassmann geometry , 1988 .

[14]  Fan-Tien Cheng,et al.  The improved compact QP method for resolving manipulator redundancy , 1995, IEEE Trans. Syst. Man Cybern..