Motion singularity in simulink

2011 11 29
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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
Guy Rouleau 2011-12-1

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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:
http://www.mathworks.com/support/solutions/en/data/1-2HCY5Z/index.html

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Siavash
Siavash 2011-12-1
Thank you very much Guy, but I don't think this can be my problem.
I have simulated this motion in other simulation softwares, it didn't neither become singular in it nor it looks like a position in which it can become singular.
When I faced this error one thing that I tried was changing the Initial Conditions from zero...that did not work either
Guy Rouleau
Guy Rouleau 2011-12-2
In that case, I don't have enough information to guess anything else... I would need to see the model.

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Siavash
Siavash
2011-11-29

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