Motion singularity in simulink
8 次查看(过去 30 天)
显示 更早的评论
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
0 个评论
回答(1 个)
Guy Rouleau
2011-12-1
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:
2 个评论
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.
另请参阅
类别
在 Help Center 和 File Exchange 中查找有关 Bodies 的更多信息
Community Treasure Hunt
Find the treasures in MATLAB Central and discover how the community can help you!
Start Hunting!