Community/Industry Impact and Value • This project results will be used for future engineers to learn complex Robot Kinematic theory. • Companies that are developing Robotic Simulation and off-line programming software packages can use those results to improve simulation of Advanced Manufacturing Systems. Community/Industry Engagement • Djuric’s Robotic Lab at Engineering Technology Learning Experiences • Matlab programming • Forward Kinematics calculation • Jacobian Matrix and singularity condition calculation Team Composition • Dalton Alex da Silva, EET • Lucas Cunha e Silva, EET • Ana Djuric (Faculty Advisor) Further Research and Development • Simplify Symbolical Jacobian Matrix determinant • Verification of singularity conditions for a specific position • Analyze which angles can make the robot stay in singular condition Jacobian matrix and singularity for 6DOF FanucLRMate200ic robot The Technology and Innovation • Singularity analysis of multi degree of freedom complex systems. • Finding Singularity areas for the Fanuc Robot, represents the key element in Advanced Manufacturing Systems. • The knowledge of the singularity helps to: • Improve the robot trajectory, • Production planning, • Design and build of new robots. • Solving the Fanuc Jacobian matrix using Vector product method. • Comparison between Maple17 and Matlab tools for solving the Fanuc Jacobian matrix.
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Community/Industry Impact and Value • This project results will be used for future engineers to learn complex Robot
Kinematic theory. • Companies that are developing Robotic Simulation and off-line programming
software packages can use those results to improve simulation of Advanced Manufacturing Systems.
Community/Industry Engagement • Djuric’s Robotic Lab at Engineering Technology
Learning Experiences • Matlab programming • Forward Kinematics calculation • Jacobian Matrix and singularity condition calculation
Team Composition • Dalton Alex da Silva, EET • Lucas Cunha e Silva, EET • Ana Djuric (Faculty Advisor)
Further Research and Development • Simplify Symbolical Jacobian Matrix determinant • Verification of singularity conditions for a specific position • Analyze which angles can make the robot stay in singular condition
Jacobian matrix and singularity for 6DOF FanucLRMate200ic robot
The Technology and Innovation • Singularity analysis of multi degree of freedom complex systems.
• Finding Singularity areas for the Fanuc Robot, represents the key element in
Advanced Manufacturing Systems.
• The knowledge of the singularity helps to:
• Improve the robot trajectory,
• Production planning,
• Design and build of new robots.
• Solving the Fanuc Jacobian matrix using Vector product method.
• Comparison between Maple17 and Matlab tools for solving the Fanuc Jacobian
matrix.
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