Novel use of the Monte-Carlo methods to visualize singularity configurations in serial manipulators

This paper analyses the problem of the kinematic singularity of 6 DOF serial robots by extending the use of Monte-Carlo numerical methods to visualize singularity configurations. To achieve this goal, first, forward kinematics and D-H parameters have been derived for the manipulator. Second, the de...

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Autori principali:	Mohamed Aboelnasr, Hussein M Bahaa, Ossama Mokhiamar
Natura:	Artigo
Lingua:	Inglês
Pubblicazione:	Universiti Malaysia Pahang Al-Sultang Abdullah Publishing 2021-06-01
Serie:	Journal of Mechanical Engineering and Sciences
Soggetti:	singularity analysis Kinematic modeling Monte-Carlo methods 6 DOF Serial robotic arm Forward Kinematics
Accesso online:	http://journal.ump.edu.my/jmes/article/view/4576
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