Singularity analysis of a robotic manipulator with six degrees of freedom using MatLab

Abstract

The use of MATLAB code to analyze the singularity of a robotic arm with six degrees of freedom and one prismatic hinge is considered. The main goal is to ensure the controllability of the manipulator and to prevent undesirable behavior during its movement. Simulation results confirming the steady operation of the manipulator in all ranges of motion are presented. Using MatLab allows for providing reliable simulation resources for solving problems related to robotics.