STUDY ON SINGULAR CONFIGURATIONS AND COMPUTER SIMULATION OF 6R ROBOT

When robot is at singular configuration, the limited hand velocity would require some jointswith infeasible speeds so as to lead unsafety of the system. A method of solving the approximate ve-locity of joint near singular configuration point by adding damped vector is proposed and a modifiedalgorithm is provided. With the analysis of J, the singular configulations of 6R robot are divided intostructure boundary singularity, boundary singularity, inner singularity and wrist singularity. The con-ditions of singularities of the robot have been ascertained. The computer simulations of the singulari-ties of the robot are developed, which have many advantages over previous description methods of thesingular configurations of robot. With the help of boundary singularity analysis, a application in weld-ing trajectory planning checking of the robot has been carried out and the simulation result provedvisualized and useful.