Novel use of the Monte-Carlo methods to visualize singularity configurations in serial manipulators
This paper analyses the problem of the kinematic singularity of 6 DOF serial robots by extending the use of Monte-Carlo numerical methods to visualize singularity configurations. To achieve this goal, first, forward kinematics and D-H parameters have been derived for the manipulator. Second, the der...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
Universiti Malaysia Pahang Publishing
2021-06-01
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| Series: | Journal of Mechanical Engineering and Sciences |
| Subjects: | |
| Online Access: | https://journal.ump.edu.my/jmes/article/view/4576 |
| _version_ | 1797696048166076416 |
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| author | M.I.M. Abo Elnasr Hussein M Bahaa Ossama Mokhiamar |
| author_facet | M.I.M. Abo Elnasr Hussein M Bahaa Ossama Mokhiamar |
| author_sort | M.I.M. Abo Elnasr |
| collection | DOAJ |
| description | This paper analyses the problem of the kinematic singularity of 6 DOF serial robots by extending the use of Monte-Carlo numerical methods to visualize singularity configurations. To achieve this goal, first, forward kinematics and D-H parameters have been derived for the manipulator. Second, the derived equations are used to generate and visualize a workspace that gives a good intuition of the motion shape of the manipulator. Third, the Jacobian matrix is computed using graphical methods, aiming to locate positions that cause singularity. Finally, the data obtained are processed in order to visualize the singularity and to design a trajectory free of singularity. MATLAB robotics toolbox, Symbolic toolbox, and curve fitting toolbox are the MATLAB toolboxes used in the calculations. The results of the surface and contour plots of the determinate of the Jacobian matrix behavior lead to design a manipulator’s trajectory free of singularity and show the parameters that affect the manipulator’s singularity and its behavior in the workspace. |
| first_indexed | 2024-03-12T03:20:57Z |
| format | Article |
| id | doaj.art-4b1bd70262464024aeabb7ecf39b615e |
| institution | Directory Open Access Journal |
| issn | 2289-4659 2231-8380 |
| language | English |
| last_indexed | 2024-03-12T03:20:57Z |
| publishDate | 2021-06-01 |
| publisher | Universiti Malaysia Pahang Publishing |
| record_format | Article |
| series | Journal of Mechanical Engineering and Sciences |
| spelling | doaj.art-4b1bd70262464024aeabb7ecf39b615e2023-09-03T13:58:14ZengUniversiti Malaysia Pahang PublishingJournal of Mechanical Engineering and Sciences2289-46592231-83802021-06-011527948796310.15282/jmes.15.2.2021.02.0627Novel use of the Monte-Carlo methods to visualize singularity configurations in serial manipulatorsM.I.M. Abo Elnasr0Hussein M Bahaa1Ossama Mokhiamar2Department of Electro-Mechanical Engineering, Faculty of Engineering, Alexandria University, El-Chatby, Alexandria 21544, EgyptDepartment of Electro-Mechanical Engineering, Faculty of Engineering, Alexandria University, El-Chatby, Alexandria 21544, EgyptMechanical Engineering Department, Faculty of Engineering, Alexandria University, El-Chatby, Alexandria 21544, EgyptThis paper analyses the problem of the kinematic singularity of 6 DOF serial robots by extending the use of Monte-Carlo numerical methods to visualize singularity configurations. To achieve this goal, first, forward kinematics and D-H parameters have been derived for the manipulator. Second, the derived equations are used to generate and visualize a workspace that gives a good intuition of the motion shape of the manipulator. Third, the Jacobian matrix is computed using graphical methods, aiming to locate positions that cause singularity. Finally, the data obtained are processed in order to visualize the singularity and to design a trajectory free of singularity. MATLAB robotics toolbox, Symbolic toolbox, and curve fitting toolbox are the MATLAB toolboxes used in the calculations. The results of the surface and contour plots of the determinate of the Jacobian matrix behavior lead to design a manipulator’s trajectory free of singularity and show the parameters that affect the manipulator’s singularity and its behavior in the workspace.https://journal.ump.edu.my/jmes/article/view/4576singularity analysiskinematic modelingmonte-carlo methods6 dof serial robotic armforward kinematics |
| spellingShingle | M.I.M. Abo Elnasr Hussein M Bahaa Ossama Mokhiamar Novel use of the Monte-Carlo methods to visualize singularity configurations in serial manipulators Journal of Mechanical Engineering and Sciences singularity analysis kinematic modeling monte-carlo methods 6 dof serial robotic arm forward kinematics |
| title | Novel use of the Monte-Carlo methods to visualize singularity configurations in serial manipulators |
| title_full | Novel use of the Monte-Carlo methods to visualize singularity configurations in serial manipulators |
| title_fullStr | Novel use of the Monte-Carlo methods to visualize singularity configurations in serial manipulators |
| title_full_unstemmed | Novel use of the Monte-Carlo methods to visualize singularity configurations in serial manipulators |
| title_short | Novel use of the Monte-Carlo methods to visualize singularity configurations in serial manipulators |
| title_sort | novel use of the monte carlo methods to visualize singularity configurations in serial manipulators |
| topic | singularity analysis kinematic modeling monte-carlo methods 6 dof serial robotic arm forward kinematics |
| url | https://journal.ump.edu.my/jmes/article/view/4576 |
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