Singularity analysis of 6DOF Stäubli© TX40 robot

This paper presents a solution to study on singularity of a 6DOF robot, Stäubli^© TX40 in details and all the corresponding singular directions in task space are clearly identified. To an easy approach to derive singularities, the paper clarifies the total procedure. To do this, kinematic equations are provided. Then jacobian matrix is obtained from kinematic equations. When a manipulator is approaching a singular configuration, a certain degree of freedom will be lost such that there are no feasible solutions of the manipulator to move into this singular direction. It is of high importance to consider singularity conditions to avoid this.