STUDY ON SINGULAR CONFIGURATIONS AND COMPUTER SIMULATION OF 6R ROBOT

作     者：Zhang Kai Hu Dejin Liu Chengliang School of Mechanical Engineering,Shanghai Jiaotong University,Shanghai 200030, China 

作者机构：School of Mechanical EngineeringShanghai Jiaotong University 上海 200030 

出 版 物：《Chinese Journal of Mechanical Engineering》 (中国机械工程学报（英文版）)

年 卷 期：2004年第17卷第2期

页      面：177-180页

核心收录：

学科分类：0817[工学-化学工程与技术] 080202[工学-机械电子工程] 08[工学] 0807[工学-动力工程及工程热物理] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 0811[工学-控制科学与工程] 0801[工学-力学（可授工学、理学学位）] 

基　　金：This project is supported by Natonal Natural Science Foundation of China (No.50128504) 

主　　题：Robot Singular configuration Computer simulation 

摘      要：When robot is at singular configuration, the limited hand velocity wouldrequire some joints with infeasible speeds so as to lead unsafely of the system. A method of solvingthe approximate velocity of joint near singular configuration point by adding damped vector isproposed and a modified algorithm is provided. With the analysis of J^(-1) the singularconfigurations of 6R robot are divided into structure boundary singularity , boundary singularity ,inner singularity and wrist singularity. The conditions of singularities of the robot have beenascertained. The computer simulations of the singularities of the robot are developed, which havemany advantages over previous description methods of the singular configurations of robot. With thehelp of boundary singularity analysis, a application in welding trajectory planning checking of therobot has been carried out and the simulation result proved visualized and useful.