Geometric modeling and singularity of 6 DOF Fanuc 200IC robot

Author

Bouzgou, Kamel ; Ahmed-foitih, Zoubir

Author_Institution

Lab. of Power Syst. Solar Energy & Autom., USTO.MB, Oran, Algeria

fYear

2014

fDate

13-15 Aug. 2014

Firstpage

208

Lastpage

214

Abstract

In this paper, we propose a solution to the problems and the features encountered in the geometric modeling of the 6 DOF manipulator arm, the Fanuc. Among these, the singularity of the Jacobian matrix obtained by the kinematic model and which has a great influence on the boundaries and accessibility of the workspace of manipulator robot and it reduce the number of solutions found. We can decompose it into several sub-matrices of smaller dimensions, for ultimately a non-linear equation with two unknowns. We validate our work by conducting a simulation software platform that allows us to verify the results of manipulation in a virtual reality environment based on VRML and Matlab software, integration with the CAD model.

Keywords

Jacobian matrices; computational geometry; manipulator kinematics; nonlinear equations; 6 DOF Fanuc 200IC robot; 6 DOF manipulator arm; CAD model; Jacobian matrix singularity; Matlab software; VRML; geometric modeling; kinematic model; manipulator robot; nonlinear equation; simulation software platform; virtual reality environment; Geometry; MATLAB; Manipulators; Mathematical model; 6 DOF manipulator arms; Direct geometric model; Inverse kinematic model; Jacobian matrix; Matlab; Singularity; VRML;

fLanguage

English

Publisher

ieee

Conference_Titel

Innovative Computing Technology (INTECH), 2014 Fourth International Conference on

Conference_Location

Luton

Type

conf

DOI

10.1109/INTECH.2014.6927745

Filename

6927745