Design blocks in Simulink to detection singularity in the workspace of gough- stewart robot manipulator
Other Title(s)
تصميم برنامج بالسميولنك لاكتشاف الشذوذ في مساحة العمل لربوت كووف ستيوورت
Joint Authors
Sarhan, Riyad Ahmad
Ulwan, Hasan Muhammad
Source
Journal of University of Babylon for Engineering Sciences
Issue
Vol. 27, Issue 1 (31 Jan. 2019), pp.1-15, 15 p.
Publisher
Publication Date
2019-01-31
Country of Publication
Iraq
No. of Pages
15
Main Subjects
Topics
Abstract EN
This work deals with gough-stewart robot manipulator, which has six degrees of freedom, six actuators, fixed base, and moving platforms.
here, the jacobian matrix derived to detect the singular point in the workspace for manipulator at determinant of jacobian matrix equal to zero, then derived the equation of motion from the dynamic analysis by LaGrange method to verify the singular points with jacobian where the forces increase rapidly at this point.
finally, design blocks in Simulink include the jacobian matrix and the equations of motion to detection the singularities at any time for current input parameters (x, y, z, α, β, γ), where the determinant of the jacobian equal to zero at maximum forces.
American Psychological Association (APA)
Ulwan, Hasan Muhammad& Sarhan, Riyad Ahmad. 2019. Design blocks in Simulink to detection singularity in the workspace of gough- stewart robot manipulator. Journal of University of Babylon for Engineering Sciences،Vol. 27, no. 1, pp.1-15.
https://search.emarefa.net/detail/BIM-918022
Modern Language Association (MLA)
Ulwan, Hasan Muhammad& Sarhan, Riyad Ahmad. Design blocks in Simulink to detection singularity in the workspace of gough- stewart robot manipulator. Journal of University of Babylon for Engineering Sciences Vol. 27, no. 1 (2019), pp.1-15.
https://search.emarefa.net/detail/BIM-918022
American Medical Association (AMA)
Ulwan, Hasan Muhammad& Sarhan, Riyad Ahmad. Design blocks in Simulink to detection singularity in the workspace of gough- stewart robot manipulator. Journal of University of Babylon for Engineering Sciences. 2019. Vol. 27, no. 1, pp.1-15.
https://search.emarefa.net/detail/BIM-918022
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references : p. 13-14
Record ID
BIM-918022