Analysis of Singular Configuration of Robotic Manipulators

Robotic manipulators inevitably encounter singular configurations in the process of movement, which seriously affects their performance. Therefore, identification is extremely important. However, serial that do not meet Pieper criterion cannot obtain through analytical methods. A joint angle parameterization method, used to configurations, here creatively proposed. First, an method based on Jacobian determinant and proposed were utilized respective Stanford manipulator. The obtained two methods consistent, suggests can correctly. Then, was applied a seven-degree-of-freedom (7-DOF) manipulator planar 5R parallel Finally, correctness 7-DOF verified shape end-effector velocity ellipsoid, value determinant, condition number, manipulability measure.