Geometric Jacobians Derivation and Kinematic Singularity Analysis for Smokie Robot Manipulator & the Barrett WAM

TL;DR

This paper derives geometric Jacobians and analyzes kinematic singularities for the Smokie robot and Barrett WAM, providing insights into their configurations and singularities, and surveying redundant kinematic schemes for the WAM.

Contribution

It presents the derivation of geometric Jacobians and singularity analysis for two 6 DOF robots, and surveys redundant kinematic schemes for the Barrett WAM.

Findings

Identified singular configurations for both robots.

Derived Jacobian matrices using D-H parameters.

Surveyed redundant kinematic schemes for Barrett WAM.

Abstract

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.