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Singularity analysis of a robotic manipulator with six degrees of freedom using MatLab
https://doi.org/10.17586/0021-3454-2025-68-7-643-647
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.
About the Authors
M. Ya. Alwardat
Peter the Great St. Petersburg Polytechnic University
Russian Federation
Russian Federation
Mohammad Yasin Alwardat — Post-Graduate Student; Higher School of Automation and Robotics
St. Petersburg
H. M. Araji
University of Technology Iraq
Islamic Republic of Iran
Islamic Republic of Iran
Hassan Mohammed Al-Araji — Dr. Sci.; Department of Mechanical Engineering
Baghdad
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Review
For citations:
Alwardat M.Ya., Araji H.M. Singularity analysis of a robotic manipulator with six degrees of freedom using MatLab. Journal of Instrument Engineering. 2025;68(7):643-647. (In Russ.) https://doi.org/10.17586/0021-3454-2025-68-7-643-647
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