Research of the robot-manipulators singularity

Abstract

The article is devoted to the problem of the robot manipulators —singularities, the presence of their special configurations, in which some degrees of freedom are lost, which limits the ability to control the manipulator and reduces its accuracy. Eight three-link robotic manipulators, consisting of links of various types, are described and their singularities are analyzed. Keywords singularity, robot-manipulator, technological complex, inverse kinematics, analysis