Singularity Localities in Robot Work Envelope Comparative Analysis

The robots shown their applications in various fields like, Industrial assembly and Inspection, Painting, Medical Applications etc, For all these, robot end-effectors (EE) have to locate repeatedly and are based on many factors like, selection of Kinematic Linkages of manipulator, type of joints. In order to trace the trajectory by EE, individual links have to undergo transformations at individual coordinated of each joints. In addition to these, singularities which exists in and around the boundaries of the work envelope plays important role while robot perform trajectory. Here, various methods to identify the singularities and to overcome these obstacles on the path of trajectory have been discussed. As an outcome of this study, authors have presented the best suitable method to identify and overcome the obstacle points on the path of trajectory..