Geometric Jacobians Derivation and Kinematic Singularity Analysis for Smokie Robot Manipulator & the Barrett WAM
This work addresses kinematic analysis for specific robotic manipulators, which is incremental as it applies standard methods to new robot models.
The paper derived geometric Jacobians and identified kinematic singularities for two 6-DOF robotic arms, the Barrett WAM and Smokie OUR, by analyzing Jacobian matrices to find rank-deficient configurations and providing schematics of singular configurations.
This paper discusses deriving geometric jacobians and identifying and analyzing the kinematic singularities for two 6 DOF arm robots. First we show the direct kinematics and D-H parameters derived for these two arms. The Geometric jacobian is computed for Barrett WAM and Smokie OUR. By analyzing the jacobian matrices we find the configurations at which J is rank deficient and derive the kinematic singularities through jacobian's determinent. Schematic are provided to show the singular configurations of both robots. Finally a survey is done on redundant kinematic allocation schemesfor 7 DoF Barrett WAM.