Geometric derivation of the Jacobian for six degrees of freedom with prismatic joint

Abstract

This article is devoted to analyzing the geometric and kinematic aspects of robotic systems with six degrees of freedom and prismatic joints. Analyzing Jacobian matrices allows us to identify configurations in which the Jacobi-an degenerates. By considering the determinant of the Jacobian, kinematic singularities are determined. In our research, we used MATLAB software to analyze singularities.