STUDY ON SINGULAR CONFIGURATIONS AND COMPUTER SIMULATION OF 6R ROBOT

<正> 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-1, 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.