Singularity analysis of kuka 6 dof robot for motion simulation

Abstract

Robot Singularity is a Point in work envelope, where the Robot loses its ability to move in some direction, and therefore, in simulation automatically selects and takes a path that is different. So the user has to adjust the Robot base or Target frame or re input the Points or path for robot. In this paper, analysis has been made to identify Robot singular points by Inverse Kinematics using Robotics-Tool box plug-in for MATLAB, and Jocobian Matrix method is also used to check singularity.