Geometric derivation of the Jacobian for six degrees of freedom with prismatic joint

Geometric derivation of the Jacobian for six degrees of freedom with prismatic joint

Mohammad Yasin Alwardat
Saint Petersburg Polytechnical University (SPBPU), Postgraduate Student, 29, Politekhnicheskaya ul., Saint Petersburg, 195251, Russia, moh@This email address is being protected from spambots. You need JavaScript enabled to view it.

Hassan M. Alwan
Doctor of Technical Sciences, Professor, University of Technology, Box Office 19006, Al-Wehda neighborhood, Baghdad, Iraq, This email address is being protected from spambots. You need JavaScript enabled to view it.

M’bolo Ohouo Evers-Lauret
SPBPU, Postgraduate Student, 29, Politekhnicheskaya ul., Saint Petersburg, 195251, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it.

Olga V. Kochneva
Associate Professor, SPBPU, Higher School of Automation and Robotics, Assistant Professor, 29, Politekhnicheskaya ul., Saint Petersburg, 195251, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it.

Received March 25, 2024

Abstract
This article is devoted to analyzing the geometric and kinematic aspects of robotic systems with six degrees of freedom and prismatic joints. Analyzing Jacobian matrices allows us to identify configurations in which the Jacobian degenerates. By considering the determinant of the Jacobian, kinematic singularities are determined. In our research, we used MATLAB software to analyze singularities.

Key words
Singularity, robotic manipulator, geometric Jacobian, direct kinematics, D-H parameters.

DOI
10.31776/RTCJ.12403

Bibliographic description
Alwardat, M.Y., Alwan, H.M., M’bolo, O.E.-L. and Kochneva, O.V. (2024), "Geometric derivation of the Jacobian for six degrees of freedom with prismatic joint", Robotics and Technical Cybernetics, vol. 12, no. 4, pp. 261-269, DOI: 10.31776/RTCJ.12403. (in Russian).

UDC identifier
004.896

References

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