Research on workspace singularity analysis methods for six-axis serial robots

Most existing industrial robots face challenges due to their limited intelligence and flexibility, hindering their ability to adapt to complex and dynamic environments. This limitation primarily stems from inadequate exploration of boundary solving within robot workspaces and insufficient analysis of robot singularities. Addressing this gap, this paper introduces a novel method for robot workspace analysis to accurately assess robot singularities. Initially, the paper establishes a kinematics model for a six-axis industrial robot and employs Pieper's solution method to solve inverse kinematics. Subsequently, it integrates geometric and analytical methods to derive the robot workspace surface envelope equation. To further enhance accuracy, the sector space meshing method is applied to discretize the robot workspace across z-direction, radial direction, and rotary angle. Under each spatial mesh point, the robot Jacobi matrix is computed, and the Jacobi condition number is evaluated to determine workspace singularities. Through this proposed methodology, a comprehensive solution for the entire workspace of a six-axis industrial robot is attained, offering substantial support for enhancing industrial robot flexibility.