SINGULAR CONFIGURATIONS OF WRIST-PARTITIONED 6R SERIAL ROBOTS: A GEOMETRIC PERSPECTIVE FOR USERS

• DOI: 10.1139/tcsme-2002-0003
• Publication Date: 2018-04-19T20:15:42Z
• Authors: M.J.D. Hayes; M.L. Husty; P.J. Zsombor-Murray
• Keywords: Serial manipulator; Robot end effector

In this paper the singular configurations of wrist-partitioned 6R serial robots in general, and KUKA KR-15/2 industrial robot particular, are analytically described classified. While results not new, insight provided by geometric analysis for users such is. Examining problem joint axis parameter space, it is shown that when end-effector reference point taken to be wrist centre determinant associated Jacobian matrix splits into four factors, three which can vanish. Two potentially vanishing factors give a complete description positioning singularities remaining one orientation singularities, turn providing classification scheme.