Motion singularity in simulink
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in simulink(simmech) I run my 6-link robot. this error appears: "The motion is singular (the mass matrix is singular). Check the mass properties and joint axes of the attached bodies." apparently my mass matrices are correct. mass of each link is "1" and inertia matrices are "eye(3)"
where does this error come from?
thank you in advance
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Guy Rouleau
2011년 12월 1일
It is not the mass on each joint, but the configuration of the system. For example, a serial manipulator can get into a singular configuration when the axis of 2 revolutes are superposed.
Most robotics books explain this phenomenon.
This solution might help:
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Guy Rouleau
2011년 12월 2일
In that case, I don't have enough information to guess anything else... I would need to see the model.
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