The wrist singularities is the result of motion of the spherical wrist. This project is designed to determine only the arm singularities of 6 degree freedom robot. J 22 where J 11 and J 22 are both 3 x 3 matrix. This expression was put on Java Program. Please check the Java source code for further information.
Robots are expensive insturment and complicated design.
It is very important for every individual to take maximum efficiency out of each robot. Singularity is one of the major porblems in the movement of robot manipulators. Once robot reach singularity configuration, it stops its movement and the system should be started again. This will result in waste of time and energy, and expence as well. So, determination of singularity configuration in robot movement and its avoidance is of importance in robotic industry.