DOI 10.17586/0021-3454-2025-68-7-643-647
UDC 621.865.8
SINGULARITY ANALYSIS OF A ROBOTIC MANIPULATOR WITH SIX DEGREES OF FREEDOM USING MATLAB
Peter the Great St. Petersburg Polytechnic University, Higher School of Automation and Robotics ;
H. M. Al-Araji
University of Technology Iraq, Department of Mechanical Engineering;
Abstract. The use of MATLAB code to analyze the singularity of a robotic arm with six degrees of freedom and one prismatic hinge is considered. The main goal is to ensure the controllability of the manipulator and to prevent undesirable behavior during its movement. Simulation results confirming the steady operation of the manipulator in all ranges of motion are presented. Using MatLab allows for providing reliable simulation resources for solving problems related to robotics.
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