Novel use of the Monte-Carlo methods to visualize singularity configurations in serial manipulators

This paper analyses the problem of the kinematic singularity of 6 DOF serial robots by extending the use of Monte-Carlo numerical methods to visualize singularity configurations. To achieve this goal, first, forward kinematics and D-H parameters have been derived for the manipulator. Second, the der...

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Bibliographic Details
Published in:Journal of Mechanical Engineering and Sciences 2021-06, Vol.15 (2), p.7948-7963
Main Authors: Aboelnasr, Mohamed, Bahaa, Hussein M, Mokhiamar, Ossama
Format: Article
Language:English
Subjects:
6 dof serial robotic arm
Configurations
Curve fitting
forward kinematics
Graphical methods
Jacobi matrix method
Jacobian matrix
kinematic modeling
Kinematics
Manipulators
Matlab
Monte Carlo simulation
monte-carlo methods
Numerical methods
Parameters
Robotics
Singularities
singularity analysis
Trajectories
Workspace
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Summary:This paper analyses the problem of the kinematic singularity of 6 DOF serial robots by extending the use of Monte-Carlo numerical methods to visualize singularity configurations. To achieve this goal, first, forward kinematics and D-H parameters have been derived for the manipulator. Second, the derived equations are used to generate and visualize a workspace that gives a good intuition of the motion shape of the manipulator. Third, the Jacobian matrix is computed using graphical methods, aiming to locate positions that cause singularity. Finally, the data obtained are processed in order to visualize the singularity and to design a trajectory free of singularity. MATLAB robotics toolbox, Symbolic toolbox, and curve fitting toolbox are the MATLAB toolboxes used in the calculations. The results of the surface and contour plots of the determinate of the Jacobian matrix behavior lead to design a manipulator’s trajectory free of singularity and show the parameters that affect the manipulator’s singularity and its behavior in the workspace.
ISSN:2289-4659
2231-8380
DOI:10.15282/jmes.15.2.2021.02.0627