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

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 Jacobi-an degenerates. By considering the determinant of the Jacobian, kinematic singularities are determined. In our research, we used MATLAB software to analyze singularities.

Authors

Publication Details

Journal
Robotics and Technical Cybernetics
Published
2024-12-20
DOI
https://doi.org/10.31776/rtcj.12403
Citations
3
Primary Topic
Dynamics and Control of Mechanical Systems
Type
article
Field-Weighted Citation Impact
0.98
Controls
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article

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

О. Е. Кочнева, Hassan M. Alwan, M. Y. Alwardat, Ohouo Evers-Laure M’bolo
3 citations
Robotics and Technical Cybernetics
Dynamics and Control of Mechanical Systems
0.98
article

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

О. Е. Кочнева, Hassan M. Alwan, M. Y. Alwardat, Ohouo Evers-Laure M’bolo
article en
3 citations

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 Jacobi-an degenerates. By considering the determinant of the Jacobian, kinematic singularities are determined. In our research, we used MATLAB software to analyze singularities.

Robotics and Technical CyberneticsVol. 12(4)
Openalex Percentile: Top 22%
Dynamics and Control of Mechanical Systems
0.98
DOISourceOpenAlex
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Geometric derivation of the Jacobian for six degrees of freedom with prismatic joint — О. Е. Кочнева, Hassan M. Alwan, et al. · Robotics and Technical Cybernetics (2024) | TGRS Research Map | TGRS